| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robodojo/make_kong", |
| "suite": "robodojo", |
| "base": "robodojo-make-kong-i00", |
| "title_zh": "麻将开杠并补牌", |
| "summary_zh": "三张与弃牌同图案的手牌图案面朝上，另外九张手牌保持竖立，补牌在牌列右端竖立且双夹爪张开，并按顺序通过补牌未转动的翻牌阶段和补牌放妥的终态阶段。", |
| "embodiment_zh": "两模式均为固定在桌前的两条ARX X5机械臂，每臂末端为平行二指夹爪，无移动底盘；桌对面的第三条支援臂由预录轨迹自动出牌，不由机器人控制。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robodojo-make-kong-i00", |
| "bench": "robodojo", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "matching_faceup_1", |
| "zh": "第1张牌亮面", |
| "after": [], |
| "criterion_zh": "与对手所弃牌图案相同的三张手牌中，至少1张白色图案面朝上，局部 +z 与世界竖直向上的夹角严格小于30°；头部相机可见牌从前排竖立变为向桌子远侧躺倒、白色图案面露出，仍竖着或绿色背面朝上不算，达标张数不足1时失去本步。整体验收须曾在补牌仍保持初始面朝下朝向（四元数旋转差严格小于7°）时，让三张匹配牌与九张非匹配牌同时满足各自姿态条件。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一机械臂的夹爪拨动匹配牌上部，使其向远离机械臂的方向倒下。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一机械臂的二指夹爪夹住匹配牌并将图案面转向上方。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:49-52", |
| "inputs/task/privileged/instruction.md:57-60", |
| "inputs/task/privileged/instruction.md:97-101", |
| "inputs/task/privileged/environment/instance.json:1837-2000", |
| "inputs/oracle/replay.mp4:4-18 s" |
| ], |
| "note_zh": "三张同图案牌按达标张数计数，边只表示计数递增，不指定翻哪一张或哪只手。任务的“翻牌”从直立到面朝上约转90°，按姿态结果标调整位姿。第一阶段是跨节点联合验收，补牌初始朝向并非本步持续条件，也不另建步骤；不要求牌的最终位置、松手或静置。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "matching_faceup_2", |
| "zh": "第2张牌亮面", |
| "after": [ |
| "matching_faceup_1" |
| ], |
| "criterion_zh": "与对手所弃牌图案相同的三张手牌中，至少2张白色图案面朝上，局部 +z 与世界竖直向上的夹角严格小于30°；头部相机可见牌从前排竖立变为向桌子远侧躺倒、白色图案面露出，仍竖着或绿色背面朝上不算，达标张数不足2时失去本步。整体验收须曾在补牌仍保持初始面朝下朝向（四元数旋转差严格小于7°）时，让三张匹配牌与九张非匹配牌同时满足各自姿态条件。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一机械臂的夹爪拨动匹配牌上部，使其向远离机械臂的方向倒下。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一机械臂的二指夹爪夹住匹配牌并将图案面转向上方。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:49-52", |
| "inputs/task/privileged/instruction.md:57-60", |
| "inputs/task/privileged/instruction.md:97-101", |
| "inputs/task/privileged/environment/instance.json:1837-2000", |
| "inputs/oracle/replay.mp4:4-18 s" |
| ], |
| "note_zh": "三张同图案牌按达标张数计数，边只表示计数递增，不指定翻哪一张或哪只手。任务的“翻牌”从直立到面朝上约转90°，按姿态结果标调整位姿。第一阶段是跨节点联合验收，补牌初始朝向并非本步持续条件，也不另建步骤；不要求牌的最终位置、松手或静置。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "matching_faceup_3", |
| "zh": "第3张牌亮面", |
| "after": [ |
| "matching_faceup_2" |
| ], |
| "criterion_zh": "与对手所弃牌图案相同的三张手牌中，至少3张白色图案面朝上，局部 +z 与世界竖直向上的夹角严格小于30°；头部相机可见牌从前排竖立变为向桌子远侧躺倒、白色图案面露出，仍竖着或绿色背面朝上不算，达标张数不足3时失去本步。整体验收须曾在补牌仍保持初始面朝下朝向（四元数旋转差严格小于7°）时，让三张匹配牌与九张非匹配牌同时满足各自姿态条件。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一机械臂的夹爪拨动匹配牌上部，使其向远离机械臂的方向倒下。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一机械臂的二指夹爪夹住匹配牌并将图案面转向上方。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:49-52", |
| "inputs/task/privileged/instruction.md:57-60", |
| "inputs/task/privileged/instruction.md:97-101", |
| "inputs/task/privileged/environment/instance.json:1837-2000", |
| "inputs/oracle/replay.mp4:4-18 s" |
| ], |
| "note_zh": "三张同图案牌按达标张数计数，边只表示计数递增，不指定翻哪一张或哪只手。任务的“翻牌”从直立到面朝上约转90°，按姿态结果标调整位姿。第一阶段是跨节点联合验收，补牌初始朝向并非本步持续条件，也不另建步骤；不要求牌的最终位置、松手或静置。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_a_upright_1", |
| "zh": "甲组第1牌竖立", |
| "after": [], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；甲组至少1张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于1张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触甲组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:1507", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的甲组为 mahjong0_0..mahjong0_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_a_upright_2", |
| "zh": "甲组第2牌竖立", |
| "after": [ |
| "other_group_a_upright_1" |
| ], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；甲组至少2张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于2张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触甲组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:1507", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的甲组为 mahjong0_0..mahjong0_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_a_upright_3", |
| "zh": "甲组第3牌竖立", |
| "after": [ |
| "other_group_a_upright_2" |
| ], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；甲组至少3张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于3张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触甲组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:1507", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的甲组为 mahjong0_0..mahjong0_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_b_upright_1", |
| "zh": "乙组第1牌竖立", |
| "after": [], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；乙组至少1张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于1张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触乙组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:1672", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的乙组为 mahjong1_0..mahjong1_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_b_upright_2", |
| "zh": "乙组第2牌竖立", |
| "after": [ |
| "other_group_b_upright_1" |
| ], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；乙组至少2张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于2张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触乙组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:1672", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的乙组为 mahjong1_0..mahjong1_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_b_upright_3", |
| "zh": "乙组第3牌竖立", |
| "after": [ |
| "other_group_b_upright_2" |
| ], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；乙组至少3张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于3张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触乙组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:1672", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的乙组为 mahjong1_0..mahjong1_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_c_upright_1", |
| "zh": "丙组第1牌竖立", |
| "after": [], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；丙组至少1张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于1张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触丙组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:2002", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的丙组为 mahjong3_0..mahjong3_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_c_upright_2", |
| "zh": "丙组第2牌竖立", |
| "after": [ |
| "other_group_c_upright_1" |
| ], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；丙组至少2张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于2张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触丙组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:2002", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的丙组为 mahjong3_0..mahjong3_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "other_group_c_upright_3", |
| "zh": "丙组第3牌竖立", |
| "after": [ |
| "other_group_c_upright_2" |
| ], |
| "criterion_zh": "排除与弃牌匹配的整组后，按开局从左到右给其余三种图案分为甲、乙、丙组；丙组至少3张牌仍以短端立起，局部 +y 与竖直向上夹角严格小于7°，头部相机可见该组三张牌保持前排薄而竖直的白色牌面。开局即成立；该组符合条件的牌少于3张（例如被碰倒、歪斜或上下颠倒）即失去，复原后可重新成立，位置本身不受检查。", |
| "step": { |
| "cat": "位姿", |
| "item": "稳住" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "两侧机械臂夹爪通常不接触丙组非匹配牌，让这些牌在桌面上保持竖立。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53-55", |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:100-101", |
| "inputs/task/privileged/environment/instance.json:2002", |
| "inputs/oracle/replay.mp4:0-42.75 s" |
| ], |
| "note_zh": "依S4(a)保留初态成立且机器人能维持的目标，三种图案分别计数、组内不区分实例；i00的丙组为 mahjong3_0..mahjong3_2，匹配组由弃牌决定，不能在新种子下硬编码。state不受after门控，九个保有目标使进度从9/13开始。稳住表示保持物体姿态，无需主动抓扶；两阶段姿态检查本身不证明全程历史否决。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "freeze_held": false, |
| "id": "replacement_at_row_end", |
| "zh": "补牌立到排尾", |
| "after": [ |
| "matching_faceup_3" |
| ], |
| "criterion_zh": "左侧近处牌堆最上面的补牌被竖放到前排最右两张牌的右边，局部 +y 与竖直向上的夹角严格小于7°，中心到世界水平点(0.319, -0.15)的距离严格小于0.015米，且左右夹爪实际开度均至少为全开的0.6；头部相机可见右端新增一张直立牌，面向不限定，离开该位置、歪倒或夹爪开度不足均不满足本步。整体成功另需三张匹配牌面朝上、九张其他牌竖立，并且先前某动作边界通过第一阶段：三张匹配牌面朝上、九张其他牌竖立、补牌与初始面朝下朝向的旋转差小于7°；第二阶段须在更晚动作边界通过，无连续保持窗口。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一机械臂的二指夹爪抓住补牌，摆正并放到牌列右端；成功示例先左爪搬至中间位置，再右爪搬至排尾，两次接触先后发生。" |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:36-39", |
| "inputs/task/privileged/instruction.md:47-68", |
| "inputs/task/privileged/instruction.md:91-101", |
| "inputs/task/privileged/environment/instance.json:2662-2673", |
| "inputs/oracle/replay.mp4:18-42.75 s" |
| ], |
| "note_zh": "摆正、搬运和松手均属于补牌放置的过程或验收，不另分步骤；示例的中转放置和换臂不是必经步骤。after只表达先通过翻牌阶段再达成终态，不禁止提前平移仍保持初始朝向的补牌。双爪开度为本步验收；无物体速度、接触排除或末端回原位要求，保持抓持时姿态也可能达标，故关闭持物冻结。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "arms_out_together", |
| "zh": "双方机械臂同时伸出", |
| "never": null, |
| "criterion_zh": "同一动作边界，左臂或右臂末端相对各自初始位置在任一坐标轴的位移超过0.3米，或朝向旋转超过30°，同时对手支援臂末端在任一坐标轴位移超过0.3米，或朝向旋转超过40°；满足这一合取立即失败。录像只能粗看双方是否同时远离初始位，精确边界需末端位姿与初始位姿日志。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:67-74", |
| "inputs/task/privileged/instruction.md:91-92" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "matching_faceup_count", |
| "level": "new_code", |
| "source": "Log dyn.matching_faceup_count from selected discard identity and per-tile local +z up angle <30 deg." |
| }, |
| { |
| "atom": "other_group_a_upright_count", |
| "level": "new_code", |
| "source": "Log dyn.other_group_a_upright_count from nonmatching groups sorted by initial x; count local +y up angles <7 deg." |
| }, |
| { |
| "atom": "other_group_b_upright_count", |
| "level": "new_code", |
| "source": "Log dyn.other_group_b_upright_count from nonmatching groups sorted by initial x; count local +y up angles <7 deg." |
| }, |
| { |
| "atom": "other_group_c_upright_count", |
| "level": "new_code", |
| "source": "Log dyn.other_group_c_upright_count from nonmatching groups sorted by initial x; count local +y up angles <7 deg." |
| }, |
| { |
| "atom": "replacement_at_row_end", |
| "level": "new_code", |
| "source": "Log dyn.replacement_xy_error_m, dyn.replacement_up_angle_deg and both actual normalized gripper openings." |
| }, |
| { |
| "atom": "first_stage_passed", |
| "level": "new_code", |
| "source": "Log native first-stage latch and replacement quaternion error to (0,0.707,0.707,0); first-stage conjunction described in inputs/task/privileged/instruction.md:47-60." |
| }, |
| { |
| "atom": "arms_out_together", |
| "level": "new_code", |
| "source": "Log target and support end-effector per-axis displacement and rotation error relative to reset poses." |
| }, |
| { |
| "atom": "checker_success", |
| "level": "new_code", |
| "source": "Log per-action native checker state: Session.done and Session.success() in inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:408-413; do not use an external delivery verdict." |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "matching_face_up_angle", |
| "unit": "deg", |
| "threshold": 30, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:49" |
| ] |
| }, |
| { |
| "name": "other_tile_upright_angle", |
| "unit": "deg", |
| "threshold": 7, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:53" |
| ] |
| }, |
| { |
| "name": "stage1_replacement_rotation_error", |
| "unit": "deg", |
| "threshold": 7, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:57" |
| ] |
| }, |
| { |
| "name": "replacement_upright_angle", |
| "unit": "deg", |
| "threshold": 7, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:61" |
| ] |
| }, |
| { |
| "name": "replacement_xy_error", |
| "unit": "m", |
| "threshold": 0.015, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:63" |
| ] |
| }, |
| { |
| "name": "minimum_gripper_opening", |
| "unit": "normalized", |
| "threshold": 0.6, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:65" |
| ] |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json列出零份状态日志；依P8全部13个when、约束never及success为null。atoms仅列待记录字段，不声称输入已有这些字段，不能进行日志到达率或成功一致性验证。", |
| "评分实现缺口：已读两模式grade.py、服务及Session包装器；inputs/bench_src与inputs/grader均未提供其动态导入的底层make_kong任务、reward_manager或检查函数，成功运行记录中的源码输出也被截断。阈值、两阶段合取和直接失败条件依据两模式instruction.md的代码说明，未用缺失源码独立核实。", |
| "依S4(a)、S5及N4，另外九张手牌按三种图案各三个计数保有节点，从开局计9/13；用位姿·稳住表示保有竖立结果。文本说其他牌须全程竖立，而其明确列出的评分检查只在两阶段边界验收姿态，未说明中途倒下再扶起是否历史否决，故不臆造历史失败约束，保留此差异待核实。", |
| "依N1及S2，不把等待支援臂、观察弃牌、补牌保持初始朝向、第一阶段编号或双爪松开分别建节点；第一阶段的联合历史条件纳入整体成功判据并写进翻牌与补牌的录像验收。补牌初始朝向不是终态目标，强行设state会在必经转动时产生无意义下降。", |
| "类型边界：任务称翻牌，但从竖立到图案面朝上是约90°姿态变化；依CASES.md STEP-8将三个节点标位姿·调整位姿，区别于约180°翻面。", |
| "两模式使用相同冻结实例及Session原生世界状态判定；privileged由单次新进程重放评分，standard读取实时片段结果。依据分别为inputs/grader/efe_robodojo-files/privileged/tests/grade.py:152-178和inputs/grader/efe_robodojo-files/standard/tests/grade.py:39-47，交付及基础设施有效性不建世界状态节点。", |
| "成功录像中弃牌为mahjong7_0，匹配手牌为mahjong2_*；甲乙丙非匹配组为mahjong0_*、mahjong1_*、mahjong3_*，名称按初始非匹配图案组的左右顺序定义，组内不追踪单牌身份。固定实例在两模式相同；任何改变种子的重用必须重新读取弃牌与匹配组。", |
| "支援臂出牌后未能使弃牌面朝上会被排除样本，任务说明已明确告知；这是样本有效性而非本机器人可控目标，不建出牌步骤或失败约束（inputs/task/privileged/instruction.md:82-86）。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "语义步骤、初态与成功录像一致，阈值均由任务说明给出而未估计；底层任务评分源码缺失且无状态日志，九张保有牌的全程要求与阶段检查关系仍待核实，因此不能给高置信度。", |
| "review": { |
| "status": "agreed", |
| "rounds": 2, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "fix", |
| "conf": 6, |
| "summary_zh": "翻三张匹配牌（计数节点）与补牌立到排尾两类节点及约束基本正确；但九个“其他牌保持竖立”节点只来自评分说明，任务文本从未把它们当作步骤，应折叠。", |
| "n_issues": 1, |
| "n_major": 1 |
| }, |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 2, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "节点集合与指令一致：三张匹配牌翻面（计数1..3）、补牌立到排尾（含双爪张开）、九张非匹配牌按S4(a)作为竖立保有计数节点；无状态日志，依P8全部when为null；两阶段合取与失败条件约束与指令代码说明一致。未发现需改内容的错误。", |
| "n_issues": 0, |
| "n_major": 0 |
| } |
| ], |
| "open_zh": [] |
| }, |
| "evidence_check": { |
| "n_state_runs": 0, |
| "n_faithful": 0, |
| "success_runs_reaching_all": "0/0", |
| "spec_success_eq_grader": "0/0", |
| "diverged_runs": [], |
| "notes_zh": [ |
| "when=null 的节点不在状态日志上检查：['matching_faceup_1', 'matching_faceup_2', 'matching_faceup_3', 'other_group_a_upright_1', 'other_group_a_upright_2', 'other_group_a_upright_3', 'other_group_b_upright_1', 'other_group_b_upright_2', 'other_group_b_upright_3', 'other_group_c_upright_1', 'other_group_c_upright_2', 'other_group_c_upright_3', 'replacement_at_row_end']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T02:23:02Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83", |
| "calls": [ |
| { |
| "stage": "dag", |
| "round": 0, |
| "ok": true, |
| "space": "work/tasks/robodojo__make_kong/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robodojo__make_kong/02_review_r1" |
| }, |
| { |
| "stage": "reconcile", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robodojo__make_kong/05_reconcile_r1" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 2, |
| "ok": true, |
| "space": "work/tasks/robodojo__make_kong/02_review_r2" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "602c5028e02e7c56b14dc23b25d178548261dde5d7c78717a77a66d91fe7771c", |
| "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" |
| } |
| } |
|
|
