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efe-failure-analysis / phase1 /dextoolbench /screwdriver_long_screwdriver_spin_vertical /task_dag.json
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{
"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "dextoolbench/screwdriver_long_screwdriver_spin_vertical",
"suite": "dextoolbench",
"base": "dextoolbench_screwdriver_long_screwdriver_spin_vertical",
"title_zh": "长螺丝刀竖轴转动",
"summary_zh": "长螺丝刀按示范顺序通过全部100个目标位姿，每个目标的八个对应抓取盒角点距离均小于1.5厘米。",
"embodiment_zh": "两模式均为固定底座的KUKA iiwa 14七关节单臂，末端安装左侧Sharpa HA4二十二关节灵巧手，共二十九个位置控制关节；无移动底盘。特权模式可读仿真状态，标准模式通过服务控制相同机器人并读取相机和本体感知。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "dextoolbench_screwdriver_long_screwdriver_spin_vertical",
"bench": "dextoolbench",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "goal_pose_001_reached",
"zh": "到达位姿1",
"mode": "event",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "从初始场景开始，灰色长螺丝刀到达第1个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:18-24 第1个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第1个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05106278426512801, 0.03864849514255175, 0.6717288299036839, 0.9927703887073744, 0.09607022830250277, -0.0678089868722848, 0.02407089194582642]，位置单位米，来源为实例文件；累计通过数reached >= 1才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_002_reached",
"zh": "到达位姿2",
"mode": "event",
"when": null,
"after": [
"goal_pose_001_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前1个目标后，灰色长螺丝刀到达第2个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:27-33 第2个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第2个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.06039468827992845, 0.035287705157456606, 0.7132768393472151, -0.9932479199584426, -0.07524279788457727, 0.058239686829190694, 0.06637190476975337]，位置单位米，来源为实例文件；累计通过数reached >= 2才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_003_reached",
"zh": "到达位姿3",
"mode": "event",
"when": null,
"after": [
"goal_pose_002_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前2个目标后，灰色长螺丝刀到达第3个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:36-42 第3个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第3个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08269907467705351, 0.03879780629813867, 0.7450750048975358, 0.9978465856872665, 0.019660985068142373, -0.010807258838673095, 0.0616347325361995]，位置单位米，来源为实例文件；累计通过数reached >= 3才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_004_reached",
"zh": "到达位姿4",
"mode": "event",
"when": null,
"after": [
"goal_pose_003_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前3个目标后，灰色长螺丝刀到达第4个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:45-51 第4个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第4个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08214859118132212, 0.03602138654215847, 0.764270493576837, 0.9752809256787929, 0.040538194217471096, 0.001261420392270744, 0.21721459351364353]，位置单位米，来源为实例文件；累计通过数reached >= 4才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_005_reached",
"zh": "到达位姿5",
"mode": "event",
"when": null,
"after": [
"goal_pose_004_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前4个目标后，灰色长螺丝刀到达第5个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:54-60 第5个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第5个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08205181429078062, 0.03568821778915077, 0.7783068488924915, 0.9539283494962896, 0.043001717662077776, 0.011699641192121425, 0.29670637792499743]，位置单位米，来源为实例文件；累计通过数reached >= 5才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_006_reached",
"zh": "到达位姿6",
"mode": "event",
"when": null,
"after": [
"goal_pose_005_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前5个目标后，灰色长螺丝刀到达第6个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:63-69 第6个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第6个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08127423190524785, 0.03831329136760686, 0.7851907692730802, 0.9558249189188688, 0.040155170788762684, 0.010316472124496172, 0.29099803613696007]，位置单位米，来源为实例文件；累计通过数reached >= 6才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_007_reached",
"zh": "到达位姿7",
"mode": "event",
"when": null,
"after": [
"goal_pose_006_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前6个目标后，灰色长螺丝刀到达第7个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:72-78 第7个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第7个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.07912376975705998, 0.03434684048007752, 0.7955746552681016, 0.9472214900575012, 0.04629822850101856, 0.013513871731807235, 0.3169310620335768]，位置单位米，来源为实例文件；累计通过数reached >= 7才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_008_reached",
"zh": "到达位姿8",
"mode": "event",
"when": null,
"after": [
"goal_pose_007_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前7个目标后，灰色长螺丝刀到达第8个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:81-87 第8个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第8个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08163825551874826, 0.03635822911701536, 0.8011277453556193, 0.9525182375966635, 0.058748829385564805, -0.012634190337612284, 0.2984928128549915]，位置单位米，来源为实例文件；累计通过数reached >= 8才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_009_reached",
"zh": "到达位姿9",
"mode": "event",
"when": null,
"after": [
"goal_pose_008_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前8个目标后，灰色长螺丝刀到达第9个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:90-96 第9个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第9个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.07938903869758829, 0.03292723790778129, 0.8062497838524907, 0.9742724523414402, 0.07587860517193082, -0.09527067652399342, 0.18962891150987232]，位置单位米，来源为实例文件；累计通过数reached >= 9才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_010_reached",
"zh": "到达位姿10",
"mode": "event",
"when": null,
"after": [
"goal_pose_009_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前9个目标后，灰色长螺丝刀到达第10个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:99-105 第10个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第10个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08671131487066719, 0.02708250004440471, 0.8080805136355317, 0.9782342808207131, 0.089186212928204, -0.161963881869683, 0.09418711281492034]，位置单位米，来源为实例文件；累计通过数reached >= 10才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_011_reached",
"zh": "到达位姿11",
"mode": "event",
"when": null,
"after": [
"goal_pose_010_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前10个目标后，灰色长螺丝刀到达第11个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:108-114 第11个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第11个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08369850050916688, 0.028430325352572172, 0.8073725067878297, -0.9484601643501464, -0.0969629600837979, 0.28040769278589606, 0.1113239724370781]，位置单位米，来源为实例文件；累计通过数reached >= 11才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_012_reached",
"zh": "到达位姿12",
"mode": "event",
"when": null,
"after": [
"goal_pose_011_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前11个目标后，灰色长螺丝刀到达第12个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:117-123 第12个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第12个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08144644205181184, 0.03441886591223431, 0.8049467388707516, 0.937843725250441, 0.12478768191822265, -0.3238297620444891, 0.003386246308443288]，位置单位米，来源为实例文件；累计通过数reached >= 12才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_013_reached",
"zh": "到达位姿13",
"mode": "event",
"when": null,
"after": [
"goal_pose_012_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前12个目标后，灰色长螺丝刀到达第13个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:126-132 第13个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第13个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08486588305193171, 0.041205948093960054, 0.8101942596672302, 0.9164130883665873, 0.12509333785217192, -0.3769607774289187, 0.049389073443435495]，位置单位米，来源为实例文件；累计通过数reached >= 13才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_014_reached",
"zh": "到达位姿14",
"mode": "event",
"when": null,
"after": [
"goal_pose_013_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前13个目标后，灰色长螺丝刀到达第14个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:135-141 第14个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第14个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08823894945750455, 0.04515720036560611, 0.8113624956627529, 0.8966150023107738, 0.11166317338838672, -0.4254914065429553, 0.050694539135726975]，位置单位米，来源为实例文件；累计通过数reached >= 14才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_015_reached",
"zh": "到达位姿15",
"mode": "event",
"when": null,
"after": [
"goal_pose_014_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前14个目标后，灰色长螺丝刀到达第15个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:144-150 第15个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第15个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.09160918423920916, 0.0468606981533779, 0.8108919990984105, 0.8663637835335518, 0.09241377365834813, -0.4904765109533501, 0.01750089205386479]，位置单位米，来源为实例文件；累计通过数reached >= 15才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_016_reached",
"zh": "到达位姿16",
"mode": "event",
"when": null,
"after": [
"goal_pose_015_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前15个目标后，灰色长螺丝刀到达第16个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:153-159 第16个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第16个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.095426855574969, 0.0500507908375567, 0.8116540539179096, -0.8179541356746787, -0.0560802455814321, 0.5719862320792776, 0.025254470890644674]，位置单位米，来源为实例文件；累计通过数reached >= 16才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_017_reached",
"zh": "到达位姿17",
"mode": "event",
"when": null,
"after": [
"goal_pose_016_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前16个目标后，灰色长螺丝刀到达第17个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:162-168 第17个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第17个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.10549287078858216, 0.04634389141156481, 0.8228433311090342, -0.7682458650919366, 0.009601016195660006, 0.6328464582440517, 0.09597641139942567]，位置单位米，来源为实例文件；累计通过数reached >= 17才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_018_reached",
"zh": "到达位姿18",
"mode": "event",
"when": null,
"after": [
"goal_pose_017_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前17个目标后，灰色长螺丝刀到达第18个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:171-177 第18个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第18个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.09898865721409106, 0.04923570465423277, 0.8227339408328017, -0.7390528866849355, -0.009204894105786177, 0.6713409580222359, 0.05493103575349338]，位置单位米，来源为实例文件；累计通过数reached >= 18才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_019_reached",
"zh": "到达位姿19",
"mode": "event",
"when": null,
"after": [
"goal_pose_018_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前18个目标后，灰色长螺丝刀到达第19个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:180-186 第19个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第19个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.09404559677041963, 0.040530603810273735, 0.8209793151459182, -0.7403949840781064, -0.003467702161198405, 0.6710104988521047, 0.03934657575889911]，位置单位米，来源为实例文件；累计通过数reached >= 19才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_020_reached",
"zh": "到达位姿20",
"mode": "event",
"when": null,
"after": [
"goal_pose_019_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前19个目标后，灰色长螺丝刀到达第20个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:189-195 第20个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第20个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.09411300366114295, 0.023896158684261204, 0.8245864822589022, -0.731418354453602, 0.02689941195089196, 0.6813430704459589, 0.00867368205285925]，位置单位米，来源为实例文件；累计通过数reached >= 20才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_021_reached",
"zh": "到达位姿21",
"mode": "event",
"when": null,
"after": [
"goal_pose_020_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前20个目标后，灰色长螺丝刀到达第21个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:198-204 第21个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第21个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.09078180702962241, 0.0013865764536927783, 0.8298393205379263, -0.7308589326519307, 0.043124207081105315, 0.6805429516866158, 0.029100072786420277]，位置单位米，来源为实例文件；累计通过数reached >= 21才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_022_reached",
"zh": "到达位姿22",
"mode": "event",
"when": null,
"after": [
"goal_pose_021_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前21个目标后，灰色长螺丝刀到达第22个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:207-213 第22个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第22个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.08367052332622027, -0.019602619432547153, 0.8322999919732136, -0.7258179563793318, 0.045227711688680894, 0.6861083434786337, 0.019952175363641748]，位置单位米，来源为实例文件；累计通过数reached >= 22才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_023_reached",
"zh": "到达位姿23",
"mode": "event",
"when": null,
"after": [
"goal_pose_022_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前22个目标后，灰色长螺丝刀到达第23个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:216-222 第23个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第23个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.07999456911001457, -0.0385986636370812, 0.8358521455226446, -0.7232794333858965, 0.051692008103005116, 0.6878755440557505, 0.03196925756505219]，位置单位米，来源为实例文件；累计通过数reached >= 23才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_024_reached",
"zh": "到达位姿24",
"mode": "event",
"when": null,
"after": [
"goal_pose_023_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前23个目标后，灰色长螺丝刀到达第24个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:225-231 第24个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第24个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.07579174153952106, -0.05073676377956515, 0.8327268796052728, -0.7190274632747207, 0.12063846634728814, 0.6776181071951792, 0.09633051590911919]，位置单位米，来源为实例文件；累计通过数reached >= 24才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_025_reached",
"zh": "到达位姿25",
"mode": "event",
"when": null,
"after": [
"goal_pose_024_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前24个目标后，灰色长螺丝刀到达第25个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:234-240 第25个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第25个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.07078343196075082, -0.05372087490396771, 0.839112518312971, -0.67379332924635, 0.26314045465071034, 0.6456402796165865, 0.24476167985604552]，位置单位米，来源为实例文件；累计通过数reached >= 25才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_026_reached",
"zh": "到达位姿26",
"mode": "event",
"when": null,
"after": [
"goal_pose_025_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前25个目标后，灰色长螺丝刀到达第26个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:243-249 第26个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第26个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.06853949261425885, -0.05609347898814776, 0.8344597946170155, -0.4729487729259849, 0.547533614917282, 0.42532095865655023, 0.5437172802577565]，位置单位米，来源为实例文件；累计通过数reached >= 26才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_027_reached",
"zh": "到达位姿27",
"mode": "event",
"when": null,
"after": [
"goal_pose_026_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前26个目标后，灰色长螺丝刀到达第27个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:252-258 第27个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第27个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.06206647414503009, -0.06271728153303335, 0.8273716130110961, 0.017739378675572424, 0.6880496918077826, -0.062279672562077934, 0.7227684127249748]，位置单位米，来源为实例文件；累计通过数reached >= 27才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_028_reached",
"zh": "到达位姿28",
"mode": "event",
"when": null,
"after": [
"goal_pose_027_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前27个目标后，灰色长螺丝刀到达第28个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:261-267 第28个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第28个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05876423796150077, -0.0649641668777936, 0.8212170053299556, 0.10310881973638544, 0.6784778147650353, -0.15465704163556085, 0.7107162764681615]，位置单位米，来源为实例文件；累计通过数reached >= 28才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_029_reached",
"zh": "到达位姿29",
"mode": "event",
"when": null,
"after": [
"goal_pose_028_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前28个目标后，灰色长螺丝刀到达第29个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:270-276 第29个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第29个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05746845475711782, -0.06565685125702858, 0.8136831192819297, 0.08391031801265623, 0.6952332066130649, -0.10862369557334776, 0.7055570421401227]，位置单位米，来源为实例文件；累计通过数reached >= 29才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_030_reached",
"zh": "到达位姿30",
"mode": "event",
"when": null,
"after": [
"goal_pose_029_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前29个目标后，灰色长螺丝刀到达第30个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:279-285 第30个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第30个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05598102751244383, -0.07034394836111424, 0.8082925328425988, 0.15777348394976518, 0.6762894611896356, -0.18057933410590668, 0.6965136011163414]，位置单位米，来源为实例文件；累计通过数reached >= 30才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_031_reached",
"zh": "到达位姿31",
"mode": "event",
"when": null,
"after": [
"goal_pose_030_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前30个目标后，灰色长螺丝刀到达第31个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:288-294 第31个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第31个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05541614925975131, -0.06767237128091586, 0.8087318722308326, 0.1914632523315515, 0.6922739137397433, -0.22488342140846046, 0.658426987704565]，位置单位米，来源为实例文件；累计通过数reached >= 31才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_032_reached",
"zh": "到达位姿32",
"mode": "event",
"when": null,
"after": [
"goal_pose_031_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前31个目标后，灰色长螺丝刀到达第32个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:297-303 第32个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第32个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05236147276535464, -0.06884381169040021, 0.8001685787781732, 0.29340389405373224, 0.6604039474933089, -0.31868923974215835, 0.6133660811961534]，位置单位米，来源为实例文件；累计通过数reached >= 32才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_033_reached",
"zh": "到达位姿33",
"mode": "event",
"when": null,
"after": [
"goal_pose_032_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前32个目标后，灰色长螺丝刀到达第33个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:306-312 第33个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第33个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05880277141754032, -0.06887047114842448, 0.7907962858579114, -0.6968965827212605, 0.1234182976507382, 0.6992513056195139, 0.10075062474162616]，位置单位米，来源为实例文件；累计通过数reached >= 33才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_034_reached",
"zh": "到达位姿34",
"mode": "event",
"when": null,
"after": [
"goal_pose_033_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前33个目标后，灰色长螺丝刀到达第34个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:315-321 第34个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第34个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05595594306577923, -0.06742206716066801, 0.7678631507368952, -0.3006009335782965, 0.62992486955374, 0.3131701368706238, 0.644017237985129]，位置单位米，来源为实例文件；累计通过数reached >= 34才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_035_reached",
"zh": "到达位姿35",
"mode": "event",
"when": null,
"after": [
"goal_pose_034_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前34个目标后，灰色长螺丝刀到达第35个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:324-330 第35个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第35个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.048070108256666695, -0.07453001584953167, 0.7550553394164957, 0.4003795978747913, 0.6050563481735892, -0.39588853385334294, 0.5629167450910587]，位置单位米，来源为实例文件；累计通过数reached >= 35才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_036_reached",
"zh": "到达位姿36",
"mode": "event",
"when": null,
"after": [
"goal_pose_035_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前35个目标后，灰色长螺丝刀到达第36个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:333-339 第36个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第36个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05785149006973784, -0.07802949001984483, 0.7571571633971131, -0.6872676248018629, 0.1266677750662284, 0.6947688373543894, 0.17004337476128642]，位置单位米，来源为实例文件；累计通过数reached >= 36才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_037_reached",
"zh": "到达位姿37",
"mode": "event",
"when": null,
"after": [
"goal_pose_036_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前36个目标后，灰色长螺丝刀到达第37个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:342-348 第37个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第37个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05182950666272169, -0.0753827034382133, 0.7554147545402319, -0.6396218549796487, 0.24124288864136423, 0.6747095848371484, 0.2783033011684311]，位置单位米，来源为实例文件；累计通过数reached >= 37才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_038_reached",
"zh": "到达位姿38",
"mode": "event",
"when": null,
"after": [
"goal_pose_037_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前37个目标后，灰色长螺丝刀到达第38个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:351-357 第38个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第38个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05357575684074135, -0.07415498016261701, 0.7499332662011229, -0.6491952895816491, 0.22617470490152547, 0.6709667636350422, 0.277838228011958]，位置单位米，来源为实例文件；累计通过数reached >= 38才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_039_reached",
"zh": "到达位姿39",
"mode": "event",
"when": null,
"after": [
"goal_pose_038_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前38个目标后，灰色长螺丝刀到达第39个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:360-366 第39个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第39个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05221847767185762, -0.07434332075041805, 0.74855462912725, -0.6542969674046437, 0.20780436813778624, 0.6774474982733476, 0.26415470866733337]，位置单位米，来源为实例文件；累计通过数reached >= 39才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_040_reached",
"zh": "到达位姿40",
"mode": "event",
"when": null,
"after": [
"goal_pose_039_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前39个目标后，灰色长螺丝刀到达第40个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:369-375 第40个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第40个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.050223490913029585, -0.0733793628027648, 0.7478043550061264, -0.6034400462787349, 0.30590952639372204, 0.6475903906543325, 0.35057974576529]，位置单位米，来源为实例文件；累计通过数reached >= 40才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_041_reached",
"zh": "到达位姿41",
"mode": "event",
"when": null,
"after": [
"goal_pose_040_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前40个目标后，灰色长螺丝刀到达第41个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:378-384 第41个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第41个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.045959712312814045, -0.07226374503986244, 0.7502309075916103, -0.4803876933900174, 0.4794899596553478, 0.5457481157837596, 0.4914021130882606]，位置单位米，来源为实例文件；累计通过数reached >= 41才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_042_reached",
"zh": "到达位姿42",
"mode": "event",
"when": null,
"after": [
"goal_pose_041_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前41个目标后，灰色长螺丝刀到达第42个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:387-393 第42个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第42个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04949760661024195, -0.0727944270310783, 0.7517640955619449, -0.4882587080013229, 0.4739434883080167, 0.5471621772491772, 0.48743671972805674]，位置单位米，来源为实例文件；累计通过数reached >= 42才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_043_reached",
"zh": "到达位姿43",
"mode": "event",
"when": null,
"after": [
"goal_pose_042_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前42个目标后，灰色长螺丝刀到达第43个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:396-402 第43个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第43个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.049086166577467234, -0.07566897709721498, 0.7514896993334181, -0.37291084348420156, 0.5638085315497908, 0.4449650051468954, 0.5874211323728429]，位置单位米，来源为实例文件；累计通过数reached >= 43才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_044_reached",
"zh": "到达位姿44",
"mode": "event",
"when": null,
"after": [
"goal_pose_043_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前43个目标后，灰色长螺丝刀到达第44个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:405-411 第44个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第44个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.047865168421642464, -0.07533806954513955, 0.748705251322544, -0.2590792315210182, 0.6153486800402497, 0.34660431341227477, 0.6588546149881679]，位置单位米，来源为实例文件；累计通过数reached >= 44才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_045_reached",
"zh": "到达位姿45",
"mode": "event",
"when": null,
"after": [
"goal_pose_044_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前44个目标后，灰色长螺丝刀到达第45个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:414-420 第45个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第45个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05045585706345091, -0.07681545708485893, 0.7490497185547473, -0.2067796772666944, 0.6429895128622798, 0.2866435848678287, 0.679442496958153]，位置单位米，来源为实例文件；累计通过数reached >= 45才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_046_reached",
"zh": "到达位姿46",
"mode": "event",
"when": null,
"after": [
"goal_pose_045_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前45个目标后，灰色长螺丝刀到达第46个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:423-429 第46个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第46个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04766961300242057, -0.0761874337290318, 0.7469588907309653, -0.09575253689885815, 0.6903039280519375, 0.1700129155748132, 0.696711954204354]，位置单位米，来源为实例文件；累计通过数reached >= 46才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_047_reached",
"zh": "到达位姿47",
"mode": "event",
"when": null,
"after": [
"goal_pose_046_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前46个目标后，灰色长螺丝刀到达第47个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:432-438 第47个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第47个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.048524483980583795, -0.07588438640378603, 0.7490879711967877, 0.01698924031350237, 0.7132429957478663, 0.04558743743966184, 0.699226415603604]，位置单位米，来源为实例文件；累计通过数reached >= 47才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_048_reached",
"zh": "到达位姿48",
"mode": "event",
"when": null,
"after": [
"goal_pose_047_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前47个目标后，灰色长螺丝刀到达第48个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:441-447 第48个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第48个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04818631832215493, -0.07552590396047099, 0.7477606714390759, 0.07145210590445392, 0.7118447849291348, -0.00556860561780475, 0.6986705871599903]，位置单位米，来源为实例文件；累计通过数reached >= 48才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_049_reached",
"zh": "到达位姿49",
"mode": "event",
"when": null,
"after": [
"goal_pose_048_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前48个目标后，灰色长螺丝刀到达第49个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:450-456 第49个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第49个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05046465143877477, -0.0762113827420754, 0.7466064499583782, 0.21242591996749338, 0.6919664809733346, -0.14463419223350243, 0.6746395839055885]，位置单位米，来源为实例文件；累计通过数reached >= 49才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_050_reached",
"zh": "到达位姿50",
"mode": "event",
"when": null,
"after": [
"goal_pose_049_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前49个目标后，灰色长螺丝刀到达第50个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:459-465 第50个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第50个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.048518796504253954, -0.07980076056938201, 0.7461593378217107, 0.35552763447655206, 0.6509949495430881, -0.28547885451106764, 0.6068834323162461]，位置单位米，来源为实例文件；累计通过数reached >= 50才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_051_reached",
"zh": "到达位姿51",
"mode": "event",
"when": null,
"after": [
"goal_pose_050_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前50个目标后，灰色长螺丝刀到达第51个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:468-474 第51个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第51个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.046571242062730896, -0.0806763333204159, 0.7470486605233893, 0.3502582165632251, 0.6606235524952321, -0.27121111061783676, 0.6060859981025523]，位置单位米，来源为实例文件；累计通过数reached >= 51才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_052_reached",
"zh": "到达位姿52",
"mode": "event",
"when": null,
"after": [
"goal_pose_051_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前51个目标后，灰色长螺丝刀到达第52个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:477-483 第52个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第52个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04802657515780041, -0.07444212061724098, 0.7455289600072422, 0.3268287136942771, 0.6597943777944686, -0.26378046682059975, 0.6231165511039327]，位置单位米，来源为实例文件；累计通过数reached >= 52才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_053_reached",
"zh": "到达位姿53",
"mode": "event",
"when": null,
"after": [
"goal_pose_052_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前52个目标后，灰色长螺丝刀到达第53个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:486-492 第53个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第53个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05369580054468926, -0.07447434648381845, 0.7466224090529028, 0.4401199507714731, 0.5896612377496926, -0.37989007012356285, 0.5606046630647401]，位置单位米，来源为实例文件；累计通过数reached >= 53才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_054_reached",
"zh": "到达位姿54",
"mode": "event",
"when": null,
"after": [
"goal_pose_053_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前53个目标后，灰色长螺丝刀到达第54个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:495-501 第54个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第54个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.052986542651031594, -0.07590969528815339, 0.7484044537681498, 0.5218537398632253, 0.5295582991560911, -0.46586985940979647, 0.4797936598988875]，位置单位米，来源为实例文件；累计通过数reached >= 54才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_055_reached",
"zh": "到达位姿55",
"mode": "event",
"when": null,
"after": [
"goal_pose_054_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前54个目标后，灰色长螺丝刀到达第55个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:504-510 第55个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第55个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05126735896084678, -0.07532988530803264, 0.7461885231598647, 0.624663026552123, 0.4127656280493017, -0.5579688444576066, 0.3578986004086222]，位置单位米，来源为实例文件；累计通过数reached >= 55才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_056_reached",
"zh": "到达位姿56",
"mode": "event",
"when": null,
"after": [
"goal_pose_055_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前55个目标后，灰色长螺丝刀到达第56个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:513-519 第56个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第56个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.054379852048951134, -0.07249037204582098, 0.742316988961597, 0.6476397914068415, 0.3564146994112003, -0.5977358216377053, 0.3102308014385807]，位置单位米，来源为实例文件；累计通过数reached >= 56才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_057_reached",
"zh": "到达位姿57",
"mode": "event",
"when": null,
"after": [
"goal_pose_056_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前56个目标后，灰色长螺丝刀到达第57个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:522-528 第57个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第57个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05693946491723884, -0.07356249518294622, 0.7404241995660039, 0.7033598314089816, 0.23524233228854985, -0.6482328736114302, 0.17245328129450016]，位置单位米，来源为实例文件；累计通过数reached >= 57才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_058_reached",
"zh": "到达位姿58",
"mode": "event",
"when": null,
"after": [
"goal_pose_057_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前57个目标后，灰色长螺丝刀到达第58个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:531-537 第58个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第58个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.06059817644409849, -0.07569335431377344, 0.7423561470098003, 0.7210331592183667, 0.1112902771411649, -0.6819659640406043, 0.0514595123528537]，位置单位米，来源为实例文件；累计通过数reached >= 58才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_059_reached",
"zh": "到达位姿59",
"mode": "event",
"when": null,
"after": [
"goal_pose_058_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前58个目标后，灰色长螺丝刀到达第59个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:540-546 第59个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第59个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.06274862705107032, -0.07367104072951225, 0.7449854847800426, -0.7232173408419988, 0.005957452533948859, 0.6872309063675484, 0.0680798648498383]，位置单位米，来源为实例文件；累计通过数reached >= 59才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_060_reached",
"zh": "到达位姿60",
"mode": "event",
"when": null,
"after": [
"goal_pose_059_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前59个目标后，灰色长螺丝刀到达第60个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:549-555 第60个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第60个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.056908989852919874, -0.07185043355614507, 0.7476916281803822, -0.6791669823603848, 0.16780516529320644, 0.6804836105379707, 0.21798094495073644]，位置单位米，来源为实例文件；累计通过数reached >= 60才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_061_reached",
"zh": "到达位姿61",
"mode": "event",
"when": null,
"after": [
"goal_pose_060_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前60个目标后，灰色长螺丝刀到达第61个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:558-564 第61个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第61个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.056728588062687775, -0.07087404900743033, 0.7440962252805674, -0.6669926576626011, 0.2000421698872028, 0.6682255280375907, 0.2618751010880638]，位置单位米，来源为实例文件；累计通过数reached >= 61才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_062_reached",
"zh": "到达位姿62",
"mode": "event",
"when": null,
"after": [
"goal_pose_061_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前61个目标后，灰色长螺丝刀到达第62个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:567-573 第62个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第62个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.055151631913061834, -0.06921142426049065, 0.7464035813591247, -0.6641949040307292, 0.21738087086522806, 0.6673713945651167, 0.2573054763461062]，位置单位米，来源为实例文件；累计通过数reached >= 62才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_063_reached",
"zh": "到达位姿63",
"mode": "event",
"when": null,
"after": [
"goal_pose_062_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前62个目标后，灰色长螺丝刀到达第63个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:576-582 第63个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第63个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05328564872282205, -0.06726045045666285, 0.7429298228953037, -0.6358383287815274, 0.2712933050113604, 0.6494114470545083, 0.3168190883499554]，位置单位米，来源为实例文件；累计通过数reached >= 63才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_064_reached",
"zh": "到达位姿64",
"mode": "event",
"when": null,
"after": [
"goal_pose_063_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前63个目标后，灰色长螺丝刀到达第64个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:585-591 第64个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第64个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.054638294741076905, -0.06789080798544622, 0.7446309687576871, -0.5394158149640563, 0.4239566123512417, 0.5648222628393229, 0.4585489949955051]，位置单位米，来源为实例文件；累计通过数reached >= 64才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_065_reached",
"zh": "到达位姿65",
"mode": "event",
"when": null,
"after": [
"goal_pose_064_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前64个目标后，灰色长螺丝刀到达第65个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:594-600 第65个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第65个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05589008104750293, -0.06740109770296454, 0.7472671769058938, -0.5304136820012854, 0.4328301133214092, 0.5551453903008777, 0.47236957414264236]，位置单位米，来源为实例文件；累计通过数reached >= 65才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_066_reached",
"zh": "到达位姿66",
"mode": "event",
"when": null,
"after": [
"goal_pose_065_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前65个目标后，灰色长螺丝刀到达第66个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:603-609 第66个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第66个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05121871591738592, -0.06895163832268514, 0.747471022989841, -0.39914995870188463, 0.5551604744128142, 0.44901855995010864, 0.5752029997647381]，位置单位米，来源为实例文件；累计通过数reached >= 66才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_067_reached",
"zh": "到达位姿67",
"mode": "event",
"when": null,
"after": [
"goal_pose_066_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前66个目标后，灰色长螺丝刀到达第67个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:612-618 第67个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第67个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04889387809890978, -0.06730436375364146, 0.746671128286611, -0.2864907109395227, 0.6085546598481738, 0.3485878409095221, 0.6527410020003935]，位置单位米，来源为实例文件；累计通过数reached >= 67才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_068_reached",
"zh": "到达位姿68",
"mode": "event",
"when": null,
"after": [
"goal_pose_067_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前67个目标后，灰色长螺丝刀到达第68个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:621-627 第68个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第68个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.044630556391671024, -0.06677213620154354, 0.7451826564870752, -0.15282321142244973, 0.6925692132076371, 0.201405880349504, 0.67559501354593]，位置单位米，来源为实例文件；累计通过数reached >= 68才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_069_reached",
"zh": "到达位姿69",
"mode": "event",
"when": null,
"after": [
"goal_pose_068_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前68个目标后，灰色长螺丝刀到达第69个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:630-636 第69个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第69个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04673425295982204, -0.06585131760056284, 0.7473243960242599, -0.11218212928660988, 0.7019481717752476, 0.15118629014739654, 0.6868963820559667]，位置单位米，来源为实例文件；累计通过数reached >= 69才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_070_reached",
"zh": "到达位姿70",
"mode": "event",
"when": null,
"after": [
"goal_pose_069_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前69个目标后，灰色长螺丝刀到达第70个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:639-645 第70个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第70个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04815626708072535, -0.06656061585372752, 0.7478405630496914, 0.19289159411299894, 0.6934252691969488, -0.16072226173898302, 0.6753684798250437]，位置单位米，来源为实例文件；累计通过数reached >= 70才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_071_reached",
"zh": "到达位姿71",
"mode": "event",
"when": null,
"after": [
"goal_pose_070_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前70个目标后，灰色长螺丝刀到达第71个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:648-654 第71个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第71个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.048030102245711255, -0.06845566150145255, 0.7474072995138208, 0.2278023553010231, 0.687428176122387, -0.19635962305252166, 0.6610533170834455]，位置单位米，来源为实例文件；累计通过数reached >= 71才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_072_reached",
"zh": "到达位姿72",
"mode": "event",
"when": null,
"after": [
"goal_pose_071_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前71个目标后，灰色长螺丝刀到达第72个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:657-663 第72个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第72个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04784883067262192, -0.06600363110372498, 0.7463743013648793, 0.2576476194053854, 0.6729065659317258, -0.23239690276467148, 0.6533040160033442]，位置单位米，来源为实例文件；累计通过数reached >= 72才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_073_reached",
"zh": "到达位姿73",
"mode": "event",
"when": null,
"after": [
"goal_pose_072_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前72个目标后，灰色长螺丝刀到达第73个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:666-672 第73个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第73个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04727871898511427, -0.06715467103080419, 0.7471470533336262, 0.30882488652963747, 0.6549707833858762, -0.2792562128074197, 0.6306000554862844]，位置单位米，来源为实例文件；累计通过数reached >= 73才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_074_reached",
"zh": "到达位姿74",
"mode": "event",
"when": null,
"after": [
"goal_pose_073_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前73个目标后，灰色长螺丝刀到达第74个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:675-681 第74个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第74个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04903224806700813, -0.06760848302378375, 0.747199020037324, 0.3714952025754139, 0.6241030632722148, -0.33329575039582165, 0.6011660533045562]，位置单位米，来源为实例文件；累计通过数reached >= 74才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_075_reached",
"zh": "到达位姿75",
"mode": "event",
"when": null,
"after": [
"goal_pose_074_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前74个目标后，灰色长螺丝刀到达第75个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:684-690 第75个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第75个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04707608122714752, -0.06687841223418345, 0.7450971729372344, 0.5792480217498208, 0.4512043270841797, -0.5424643579028982, 0.4081896678315461]，位置单位米，来源为实例文件；累计通过数reached >= 75才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_076_reached",
"zh": "到达位姿76",
"mode": "event",
"when": null,
"after": [
"goal_pose_075_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前75个目标后，灰色长螺丝刀到达第76个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:693-699 第76个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第76个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.051317594058511946, -0.06750807498651712, 0.742902432994337, 0.620557775143671, 0.39543361577798264, -0.573369173334725, 0.3602611473513925]，位置单位米，来源为实例文件；累计通过数reached >= 76才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_077_reached",
"zh": "到达位姿77",
"mode": "event",
"when": null,
"after": [
"goal_pose_076_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前76个目标后，灰色长螺丝刀到达第77个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:702-708 第77个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第77个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.045101533094206066, -0.0687227712635422, 0.7395609867650694, 0.6702838373261136, 0.26714252468912236, -0.661275558292029, 0.2051074960299288]，位置单位米，来源为实例文件；累计通过数reached >= 77才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_078_reached",
"zh": "到达位姿78",
"mode": "event",
"when": null,
"after": [
"goal_pose_077_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前77个目标后，灰色长螺丝刀到达第78个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:711-717 第78个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第78个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04668330677306582, -0.06773183110030456, 0.7395884186676327, 0.6936498113528953, 0.18981833086705546, -0.683316399337757, 0.1260858393041061]，位置单位米，来源为实例文件；累计通过数reached >= 78才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_079_reached",
"zh": "到达位姿79",
"mode": "event",
"when": null,
"after": [
"goal_pose_078_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前78个目标后，灰色长螺丝刀到达第79个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:720-726 第79个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第79个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.053624468209891925, -0.0694039135909833, 0.7392596476393515, 0.7061271606568184, 0.16165451315175294, -0.6812980596449537, 0.10528630150418401]，位置单位米，来源为实例文件；累计通过数reached >= 79才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_080_reached",
"zh": "到达位姿80",
"mode": "event",
"when": null,
"after": [
"goal_pose_079_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前79个目标后，灰色长螺丝刀到达第80个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:729-735 第80个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第80个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05399601480301864, -0.06927548951155471, 0.7423592569842453, -0.6852322509365765, 0.12258531667488592, 0.6923843885417297, 0.18982481638554488]，位置单位米，来源为实例文件；累计通过数reached >= 80才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_081_reached",
"zh": "到达位姿81",
"mode": "event",
"when": null,
"after": [
"goal_pose_080_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前80个目标后，灰色长螺丝刀到达第81个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:738-744 第81个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第81个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05066996647000228, -0.06586566588030396, 0.7391483236788758, -0.6612027839777911, 0.20826948910021648, 0.6731439803089937, 0.25751093208584125]，位置单位米，来源为实例文件；累计通过数reached >= 81才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_082_reached",
"zh": "到达位姿82",
"mode": "event",
"when": null,
"after": [
"goal_pose_081_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前81个目标后，灰色长螺丝刀到达第82个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:747-753 第82个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第82个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04616131780982664, -0.06438412659776238, 0.7414033478039668, -0.6301655619006726, 0.2643351800017417, 0.6672096533505125, 0.29639425717065737]，位置单位米，来源为实例文件；累计通过数reached >= 82才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_083_reached",
"zh": "到达位姿83",
"mode": "event",
"when": null,
"after": [
"goal_pose_082_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前82个目标后，灰色长螺丝刀到达第83个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:756-762 第83个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第83个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04376769858928676, -0.06208845102544369, 0.7441925573316006, -0.5260601259535045, 0.4423288780450705, 0.578300213033463, 0.43951651975167505]，位置单位米，来源为实例文件；累计通过数reached >= 83才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_084_reached",
"zh": "到达位姿84",
"mode": "event",
"when": null,
"after": [
"goal_pose_083_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前83个目标后，灰色长螺丝刀到达第84个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:765-771 第84个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第84个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04910377338431494, -0.06132523807066248, 0.746735214315027, -0.48352813394209787, 0.5007572630363172, 0.5211763744975458, 0.49377919545930943]，位置单位米，来源为实例文件；累计通过数reached >= 84才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_085_reached",
"zh": "到达位姿85",
"mode": "event",
"when": null,
"after": [
"goal_pose_084_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前84个目标后，灰色长螺丝刀到达第85个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:774-780 第85个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第85个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04694977719903016, -0.06081672820296791, 0.745478668725485, -0.2520413264556208, 0.6494437481624301, 0.29565583904354087, 0.6536708748067979]，位置单位米，来源为实例文件；累计通过数reached >= 85才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_086_reached",
"zh": "到达位姿86",
"mode": "event",
"when": null,
"after": [
"goal_pose_085_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前85个目标后，灰色长螺丝刀到达第86个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:783-789 第86个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第86个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04707737123658074, -0.06062186589686236, 0.7454447362867395, -0.14131439160448017, 0.6863275690898577, 0.1841781508523458, 0.6892482276954164]，位置单位米，来源为实例文件；累计通过数reached >= 86才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_087_reached",
"zh": "到达位姿87",
"mode": "event",
"when": null,
"after": [
"goal_pose_086_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前86个目标后，灰色长螺丝刀到达第87个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:792-798 第87个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第87个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04791069352404521, -0.06213383483700463, 0.7469020041915512, 0.011785492526894484, 0.7144028038926237, 0.010888753204167516, 0.6995506922374634]，位置单位米，来源为实例文件；累计通过数reached >= 87才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_088_reached",
"zh": "到达位姿88",
"mode": "event",
"when": null,
"after": [
"goal_pose_087_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前87个目标后，灰色长螺丝刀到达第88个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:801-807 第88个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第88个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.046996995820800976, -0.062222228662155654, 0.7471628362808143, 0.1948163497019578, 0.6920010240276437, -0.18350018658968095, 0.6704542148089224]，位置单位米，来源为实例文件；累计通过数reached >= 88才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_089_reached",
"zh": "到达位姿89",
"mode": "event",
"when": null,
"after": [
"goal_pose_088_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前88个目标后，灰色长螺丝刀到达第89个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:810-816 第89个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第89个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.046464152646397146, -0.061923014758771044, 0.7459279503733757, 0.22417917502966125, 0.6856713285383468, -0.21566077742063858, 0.6580949443551477]，位置单位米，来源为实例文件；累计通过数reached >= 89才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_090_reached",
"zh": "到达位姿90",
"mode": "event",
"when": null,
"after": [
"goal_pose_089_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前89个目标后，灰色长螺丝刀到达第90个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:819-825 第90个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第90个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04440501958622906, -0.06587192054758684, 0.745033264137944, 0.43455346144038837, 0.5878645646821417, -0.41551424614911653, 0.5412268045730779]，位置单位米，来源为实例文件；累计通过数reached >= 90才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_091_reached",
"zh": "到达位姿91",
"mode": "event",
"when": null,
"after": [
"goal_pose_090_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前90个目标后，灰色长螺丝刀到达第91个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:828-834 第91个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第91个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04532113437954611, -0.06644568592450928, 0.7436439917998232, 0.5600301514976986, 0.4736938320736077, -0.5339615228766755, 0.42055377177729175]，位置单位米，来源为实例文件；累计通过数reached >= 91才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_092_reached",
"zh": "到达位姿92",
"mode": "event",
"when": null,
"after": [
"goal_pose_091_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前91个目标后，灰色长螺丝刀到达第92个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:837-843 第92个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第92个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.046871454170427214, -0.06589760989245574, 0.7414123674226438, 0.6419760647703916, 0.33951486560508837, -0.6221079945800808, 0.29253723074957744]，位置单位米，来源为实例文件；累计通过数reached >= 92才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_093_reached",
"zh": "到达位姿93",
"mode": "event",
"when": null,
"after": [
"goal_pose_092_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前92个目标后，灰色长螺丝刀到达第93个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:846-852 第93个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第93个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04859712940808759, -0.06675210647878171, 0.7401855199223495, 0.6865191893951353, 0.2273510230821315, -0.6696321591384404, 0.16910259117868326]，位置单位米，来源为实例文件；累计通过数reached >= 93才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_094_reached",
"zh": "到达位姿94",
"mode": "event",
"when": null,
"after": [
"goal_pose_093_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前93个目标后，灰色长螺丝刀到达第94个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:855-861 第94个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第94个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.050868949413697136, -0.06609890407239227, 0.7433497921766299, 0.6948336643007686, 0.12954954418396636, -0.7009513489028172, 0.09534307015936881]，位置单位米，来源为实例文件；累计通过数reached >= 94才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_095_reached",
"zh": "到达位姿95",
"mode": "event",
"when": null,
"after": [
"goal_pose_094_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前94个目标后，灰色长螺丝刀到达第95个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:864-870 第95个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第95个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05300485121253746, -0.06351384510950286, 0.7409611387422375, -0.6931280469901497, 0.09187791769782783, 0.7043301247326846, 0.1226826561057939]，位置单位米，来源为实例文件；累计通过数reached >= 95才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_096_reached",
"zh": "到达位姿96",
"mode": "event",
"when": null,
"after": [
"goal_pose_095_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前95个目标后，灰色长螺丝刀到达第96个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:873-879 第96个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第96个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.054416456892026906, -0.06374221997699148, 0.7401704135428913, -0.6856488038561984, 0.149912062913507, 0.6850804562685661, 0.19513292803223767]，位置单位米，来源为实例文件；累计通过数reached >= 96才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_097_reached",
"zh": "到达位姿97",
"mode": "event",
"when": null,
"after": [
"goal_pose_096_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前96个目标后，灰色长螺丝刀到达第97个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:882-888 第97个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第97个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05593347904855151, -0.06396131369268399, 0.739587491537992, -0.6912144073288666, 0.1366689276378602, 0.6874255901943331, 0.17604063526723918]，位置单位米，来源为实例文件；累计通过数reached >= 97才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_098_reached",
"zh": "到达位姿98",
"mode": "event",
"when": null,
"after": [
"goal_pose_097_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前97个目标后，灰色长螺丝刀到达第98个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:891-897 第98个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第98个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.05344008772981241, -0.06372104366984899, 0.7408032251177339, -0.6881785443649802, 0.1359376972561478, 0.6892715327572683, 0.18120702986043033]，位置单位米，来源为实例文件；累计通过数reached >= 98才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_099_reached",
"zh": "到达位姿99",
"mode": "event",
"when": null,
"after": [
"goal_pose_098_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前98个目标后，灰色长螺丝刀到达第99个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。通过后绿影切换到下一目标；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:900-906 第99个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第99个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04884585105569706, -0.06166801983699066, 0.739641327492883, -0.6777360145680776, 0.14186412234130807, 0.7003866637855924, 0.17322524798942038]，位置单位米，来源为实例文件；累计通过数reached >= 99才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
},
{
"id": "goal_pose_100_reached",
"zh": "到达位姿100",
"mode": "event",
"when": null,
"after": [
"goal_pose_099_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "依次通过前99个目标后，灰色长螺丝刀到达第100个绿色目标影像的位置与朝向：正视、侧视比较柄端高度和刀杆朝向，俯视及斜视比较平面位置，严格验收为工具局部尺寸(0.141, 0.03025, 0.0271)米乘1.5的抓取盒八角点与目标对应角点距离全部小于0.015米，一次控制步满足即通过。本项是最后目标，通过后绿影仍留在第100个位姿，不能用是否再次切换判断；工具仍低于绿影、柄端明显分离或刀杆方向不符即尚未完成，已通过后离开此位姿不撤销。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "左侧Sharpa HA4灵巧手的拇指与其余手指抓住长螺丝刀柄，由机械臂带动工具到达目标；后续重抓等先后动作不另列同时接触。"
},
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 2,
"note_zh": "左侧Sharpa HA4灵巧手的手指在保持接触时滚转、换位以重定向长螺丝刀柄，配合机械臂平移到目标；这是替代接触方案，不要求每个位姿都采用手内调整。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6 依次到达100个示范目标位姿",
"inputs/task/standard/instruction.md:3-6 同一目标序列",
"inputs/task/privileged/environment/instance.json:909-915 第100个目标，顺序为x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 抓取盒大小、缩放与0.015米严格阈值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 八个对应角点距离的最大值",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 只检查当前目标，每控制步最多前进一个，完成计数不回退",
"inputs/grader/efe_dextoolbench-files/sim/server_mj.py:425-432 标准模式使用同一跟踪器，全部通过即结束"
],
"conf": 6,
"note_zh": "第100个目标的精确世界位姿[x,y,z,qx,qy,qz,qw]为[-0.04992888517501149, -0.06025211281084508, 0.7403095290432569, -0.6803849238509034, 0.15384863687614203, 0.6929365224105716, 0.18233465999994952]，位置单位米，来源为实例文件；累计通过数reached >= 100才表示此有序检查点已通过，不能只凭事后偶然经过同一位置计入。按S5及D11当前处理逐位姿设节点，不把本节点理解为一次完整旋转；不要求保持旧目标、松手或静置。"
}
],
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"success": null,
"atoms": [
{
"atom": "goals_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-241 Session.goal_index及progress()[\"reached\"]；inputs/grader/efe_dextoolbench-files/sim/server_mj.py:299-305 task_info()[\"goals_reached\"]。需在逐帧重放日志新增dyn.goals_reached，节点k可绑定累计通过数>=k；现无任何状态日志，未作绑定。"
},
{
"atom": "goal_distance_m",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51,119-123,223-235 当前目标八个对应角点的最大距离；需新增逐帧dyn.goal_distance_m并记录其对应目标编号，且在目标切换前记录原始未舍入距离。当前progress()将此值舍入至五位小数，不能用舍入值取代严格阈值。"
}
]
},
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{
"name": "goal_distance_m",
"unit": "m",
"threshold": 0.015,
"direction": "lower_better",
"note_zh": "当前目标的最大对应角点距离，严格小于阈值才通过；inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51,119-123,223-241。每次通过后改为下一目标的距离，全部通过后为null；对外显示值已舍入。"
},
{
"name": "progress",
"unit": "ratio",
"threshold": 1.0,
"direction": "higher_better",
"note_zh": "累计通过目标数除以100；inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-241。二值成绩只在全部目标通过时为1；inputs/grader/efe_dextoolbench-files/privileged/tests/grade.py:50-54。"
}
],
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"inputs/states/index.json的logs为空，成功参考也没有状态日志；依P8，100个节点的when和全局success均为null，不能把会话输出字段假装成逐帧日志绑定。需记录原生累计目标计数及目标切换前的角点误差后才能机器核验。",
"粒度按S5和D11当前处理：文字明确要求依次到达100个位姿，评分器也逐个计数，因此保留100个event节点；相邻位姿即使容差区重叠也不合并。这不是100次独立旋转或一个累计旋转角度目标，大规模位姿序列是否改用一个轨迹节点仍属D11开放问题。",
"模式差异：特权模式每目标最多1800个控制步（30秒），标准模式RCB_DTB_GOAL_TIMEOUT_S=0而无逐目标时限；两者均最多360000控制步，时限按P21不建约束。特权模式还要求两次重放state_sha与reached一致，标准模式只判最后一次实时episode并排除服务错误；这些交付与基础设施条件不建语义节点，现无日志故success保持null。依据：inputs/grader/efe_dextoolbench-files/privileged/tests/grade.py:14,47-54；inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:45-48,223-230；inputs/task/standard/environment/docker-compose.yaml:23-28；inputs/grader/efe_dextoolbench-files/standard/tests/grade.py:29-40。",
"文字写抓取盒尺寸0.141×0.030×0.027米，代码使用0.141×0.03025×0.0271米再乘1.5；判据采用代码精确值，不能把文字的舍入尺寸当作另一阈值。依据：两模式instruction.md的Scoring段及inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51。",
"“拿起”并入到达首个位姿的准备过程，未另造工具拾取节点：长螺丝刀本身是受评对象，评分器不检查独立抓握或接触状态，首目标高度0.6717288299036839米高于起始0.5719587969799858米；不把参考成功使用的抓法、手指换位和重抓顺序设为必经步骤。依据：inputs/task/privileged/environment/instance.json:7-24及inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-235。",
"成功参考cxqswbv的评分记录为100/100、deterministic=1，但16265个控制步的过程只渲染成398帧约13.267秒，视频中没有目标编号叠字；正、侧、俯及斜视可见灰色工具与绿色目标由水平抬升到近竖直连续转向，部分目标切换落在抽帧间，无法仅凭视频恢复全部100个精确通过时刻或核验厘米级误差。只把参考用于场景与可见判据，不从中虚构各节点时刻；依据inputs/oracle/run.json的reward、inputs/oracle/replay.mp4及inputs/grader/efe_dextoolbench-files/privileged/tests/grade.py:15,57。"
],
"conf": 6,
"conf_reason_zh": "100个有序检查点来自文字，严格角点阈值、单步计数及顺序来自两模式共用的跟踪器；实例、首帧及参考视频核对了初态与可见目标。缺少状态日志，且压缩视频不足以逐个核验100个位姿的精确接受时刻，所有条件只能保留待日志绑定，因此置信度为6。",
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"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "文件按S5/D11当前规则保留100个有序位姿节点，when与success为null且已在open_questions_zh说明；阈值采用评分代码值，标签合理。无状态日志，无法做重放核验。",
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}
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"n_state_runs": 0,
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"spec_success_eq_grader": "0/0",
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"when=null 的节点不在状态日志上检查：['goal_pose_001_reached', 'goal_pose_002_reached', 'goal_pose_003_reached', 'goal_pose_004_reached', 'goal_pose_005_reached', 'goal_pose_006_reached', 'goal_pose_007_reached', 'goal_pose_008_reached', 'goal_pose_009_reached', 'goal_pose_010_reached', 'goal_pose_011_reached', 'goal_pose_012_reached', 'goal_pose_013_reached', 'goal_pose_014_reached', 'goal_pose_015_reached', 'goal_pose_016_reached', 'goal_pose_017_reached', 'goal_pose_018_reached', 'goal_pose_019_reached', 'goal_pose_020_reached', 'goal_pose_021_reached', 'goal_pose_022_reached', 'goal_pose_023_reached', 'goal_pose_024_reached', 'goal_pose_025_reached', 'goal_pose_026_reached', 'goal_pose_027_reached', 'goal_pose_028_reached', 'goal_pose_029_reached', 'goal_pose_030_reached', 'goal_pose_031_reached', 'goal_pose_032_reached', 'goal_pose_033_reached', 'goal_pose_034_reached', 'goal_pose_035_reached', 'goal_pose_036_reached', 'goal_pose_037_reached', 'goal_pose_038_reached', 'goal_pose_039_reached', 'goal_pose_040_reached', 'goal_pose_041_reached', 'goal_pose_042_reached', 'goal_pose_043_reached', 'goal_pose_044_reached', 'goal_pose_045_reached', 'goal_pose_046_reached', 'goal_pose_047_reached', 'goal_pose_048_reached', 'goal_pose_049_reached', 'goal_pose_050_reached', 'goal_pose_051_reached', 'goal_pose_052_reached', 'goal_pose_053_reached', 'goal_pose_054_reached', 'goal_pose_055_reached', 'goal_pose_056_reached', 'goal_pose_057_reached', 'goal_pose_058_reached', 'goal_pose_059_reached', 'goal_pose_060_reached', 'goal_pose_061_reached', 'goal_pose_062_reached', 'goal_pose_063_reached', 'goal_pose_064_reached', 'goal_pose_065_reached', 'goal_pose_066_reached', 'goal_pose_067_reached', 'goal_pose_068_reached', 'goal_pose_069_reached', 'goal_pose_070_reached', 'goal_pose_071_reached', 'goal_pose_072_reached', 'goal_pose_073_reached', 'goal_pose_074_reached', 'goal_pose_075_reached', 'goal_pose_076_reached', 'goal_pose_077_reached', 'goal_pose_078_reached', 'goal_pose_079_reached', 'goal_pose_080_reached', 'goal_pose_081_reached', 'goal_pose_082_reached', 'goal_pose_083_reached', 'goal_pose_084_reached', 'goal_pose_085_reached', 'goal_pose_086_reached', 'goal_pose_087_reached', 'goal_pose_088_reached', 'goal_pose_089_reached', 'goal_pose_090_reached', 'goal_pose_091_reached', 'goal_pose_092_reached', 'goal_pose_093_reached', 'goal_pose_094_reached', 'goal_pose_095_reached', 'goal_pose_096_reached', 'goal_pose_097_reached', 'goal_pose_098_reached', 'goal_pose_099_reached', 'goal_pose_100_reached']"
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