| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/binder_page_load", |
| "suite": "dexhand", |
| "base": "dexhand-binder-page-load-i00", |
| "title_zh": "双页装入活页夹", |
| "summary_zh": "先打开扣环并将两张三孔纸套入对应环线，再闭环使六孔全部链接，纸页留在后封面且全局离手静置50控制步，全程不触发立即失败条件。", |
| "embodiment_zh": "两种模式均为单只右灵巧手，默认Sharpa Wave（22个手指驱动器），也支持Wuji Hand 2.2（20个手指驱动器）；安装在三平移加三旋转的六自由度腕部定位台上，无机械臂、无移动底盘，控制频率50 Hz。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-binder-page-load-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "rings_opened", |
| "zh": "打开扣环", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "白色文件夹中缝处的三对金属半环分开、两侧拨板向外张开，两块拨板角度均达到0.50 rad；总览或扣环近景可见分开的环尖，未形成开口即未完成。此为一次性通过的开环步骤，之后为装订而闭合不撤销。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "压/擦", |
| "note_zh": "右手食指等手指下压文件夹任一端的助力拨片，使两侧扣环同时张开。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右手手指捏住金属半环或拨板边缘，拨开扣环机构。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:230-232", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:113-116", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:106", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:114-150", |
| "inputs/oracle/replay.mp4:0-2 s" |
| ], |
| "conf": 8, |
| "note_zh": "只设一个机构开环节点：三环由同一对拨板和内部联动机构共同开合，并非三个独立任务物件。原生第1阶段锁存，成功必须先经过；助力拨片是机构部件，不是须拾取的工具。" |
| }, |
| { |
| "id": "pages_threaded_1", |
| "zh": "第1张纸入环", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "rings_opened" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见至少1张纸的三孔边沿套在文件夹同站的三个环线上，页身落在后封面一侧，而非仍散放桌面或仅压在环上：每张纸的三个孔均被正确穿过，开环时右半环各穿孔一次且左半环不穿孔，交点距孔心不超过3.5 mm，闭环后各孔被闭合环恰链接一次，距孔线60 mm的页中心在文件夹坐标中满足0.03<x<0.16 m、|y|<0.03 m、-0.01<z<0.06 m。计入的纸须离手并接触文件夹或另一张纸；少于1张满足时失去此状态，装完两张后还须在开环状态共同离手通过装页阶段，最终六孔链接、全局离手和连续50控制步的静置按联合成功条件验收（成功视频约17 s可见一张入环、约27 s可见两张叠在后封面）。", |
| "step": { |
| "cat": "关系", |
| "item": "穿绕" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右手拇指与其余手指捏住任一张纸的页边，将三孔套过对应环尖后放开。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:109-125", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:191-225", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:247-266", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:112", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:115-128", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:355-358", |
| "inputs/oracle/replay.mp4:16-18 s, 26-27.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "两张纸的目标条件相同，按满足条件的张数计，不固定纸张身份；每张的三个孔只是该张装页的完整性验收，不拆成逐孔节点。开环穿好到闭环链接均属同一入环关系；不把环角度加在每张纸的状态上，以免关环操作人为清空装页进度。freeze_held=false：重新接触或取走已装页时，应按离手、支承及穿孔关系实时判断，不能冻结旧值；另一张纸的接触不单独清空已合格纸张。" |
| }, |
| { |
| "id": "pages_threaded_2", |
| "zh": "第2张纸入环", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "pages_threaded_1" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见至少2张纸的三孔边沿套在文件夹同站的三个环线上，页身落在后封面一侧，而非仍散放桌面或仅压在环上：每张纸的三个孔均被正确穿过，开环时右半环各穿孔一次且左半环不穿孔，交点距孔心不超过3.5 mm，闭环后各孔被闭合环恰链接一次，距孔线60 mm的页中心在文件夹坐标中满足0.03<x<0.16 m、|y|<0.03 m、-0.01<z<0.06 m。计入的纸须离手并接触文件夹或另一张纸；少于2张满足时失去此状态，装完两张后还须在开环状态共同离手通过装页阶段，最终六孔链接、全局离手和连续50控制步的静置按联合成功条件验收（成功视频约17 s可见一张入环、约27 s可见两张叠在后封面）。", |
| "step": { |
| "cat": "关系", |
| "item": "穿绕" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右手拇指与其余手指捏住任一张纸的页边，将三孔套过对应环尖后放开。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:109-125", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:191-225", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:247-266", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:112", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:115-128", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:355-358", |
| "inputs/oracle/replay.mp4:16-18 s, 26-27.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "两张纸的目标条件相同，按满足条件的张数计，不固定纸张身份；每张的三个孔只是该张装页的完整性验收，不拆成逐孔节点。开环穿好到闭环链接均属同一入环关系；不把环角度加在每张纸的状态上，以免关环操作人为清空装页进度。freeze_held=false：重新接触或取走已装页时，应按离手、支承及穿孔关系实时判断，不能冻结旧值；另一张纸的接触不单独清空已合格纸张。" |
| }, |
| { |
| "id": "rings_closed", |
| "zh": "关上扣环", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "pages_threaded_2" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "三对金属环尖重新对合成闭环，两块拨板角度均不大于0.05 rad；扣环近景可见完整弧圈，任一侧重新张开超过阈值即失去，初始闭合也计入。最终必须两页六孔各被闭环链接一次且页中心仍在后封面合格区域，两页受文件夹或另一页支承，手与所有纸张及文件夹部件均无接触，两页相对静置窗口起点位移不超过2 mm、转角不超过0.03 rad并连续满足50个50 Hz控制步（标称1 s）；成功视频末尾近景可见手离开、三环闭合、两页留在后封面，联合窗口未过还不算整项任务成功。", |
| "step": { |
| "cat": "机构", |
| "item": "关上" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "压/擦", |
| "note_zh": "右手手指下压张开的金属拨板内侧凸边，使过中心机构回到闭合端。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右手手指捏合两侧金属半环或拨板，将环尖合拢。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:231-232", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:256-279", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:117-128", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:114-139", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:107-108", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:127-128", |
| "inputs/oracle/replay.mp4:29-31.8 s" |
| ], |
| "conf": 8, |
| "note_zh": "按S4(b)作为恢复机构状态的state节点，关环本身只判断rings_closed，闭环初态由场景零关节值与reset确定；after仅说明最后关环的顺序，不门控初态。六孔链接已分配给两张装页节点，阶段顺序、全局离手和共同静置窗口分配到success，故本节点hold_s=0，不把联合窗口再重复计时；有日志时优先直接记录原生hold_steps>=50。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "page_on_floor", |
| "zh": "纸张触地", |
| "never": null, |
| "criterion_zh": "任一张纸与地板接触即失败；纸接触桌面或在桌边悬伸本身不违规。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:146-150" |
| ] |
| }, |
| { |
| "id": "page_free_fall", |
| "zh": "纸张掉落", |
| "never": null, |
| "criterion_zh": "任一张纸完全没有接触，世界竖直速度小于-0.2 m/s，且没有任何对应环半线穿过其任一孔时立即判掉落，不提供再接住的宽限。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:161-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:129" |
| ] |
| }, |
| { |
| "id": "page_below_desk", |
| "zh": "纸张低于桌面", |
| "never": null, |
| "criterion_zh": "任一纸张原点z<0.698 m，即低于0.70 m桌面超过2 mm。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:130-133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:113" |
| ] |
| }, |
| { |
| "id": "page_outside_workspace", |
| "zh": "纸张越界", |
| "never": null, |
| "criterion_zh": "任一纸张原点离开闭区间工作空间：x为[0.20,0.98] m，y为[-0.38,0.48] m，z为[0.698,1.10] m。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:134-135", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:114-125" |
| ] |
| }, |
| { |
| "id": "binder_displaced", |
| "zh": "文件夹移位", |
| "never": null, |
| "criterion_zh": "文件夹基体相对重置位置的水平位移范数大于0.03 m。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:136-138", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:63", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:109" |
| ] |
| }, |
| { |
| "id": "binder_tilted", |
| "zh": "文件夹倾斜", |
| "never": null, |
| "criterion_zh": "文件夹基体的向上轴相对世界竖直方向倾角大于0.35 rad。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:139-140", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:110" |
| ] |
| }, |
| { |
| "id": "wire_through_page", |
| "zh": "环线穿透纸面", |
| "never": null, |
| "criterion_zh": "金属环线与纸实体接触的穿透深度大于1.2 mm；环线只能从孔中穿过。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:156-160", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:111" |
| ] |
| }, |
| { |
| "id": "hand_through_page", |
| "zh": "手穿透纸面", |
| "never": null, |
| "criterion_zh": "任一手部几何体与纸实体接触的穿透深度大于3 mm。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:151-155", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:126" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理失稳", |
| "never": null, |
| "criterion_zh": "任一2 ms物理子步出现原生BADQPOS、BADQVEL或BADQACC警告即立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:95-107" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "rings_open", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:230-231；需逐帧记录features().rings_open与toggles_rad；本任务无状态日志。" |
| }, |
| { |
| "atom": "rings_closed", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:230-232；需逐帧记录features().rings_closed与toggles_rad。" |
| }, |
| { |
| "atom": "pages_threaded_count", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:191-240；需逐帧记录每孔open_threaded、linked及每页pages_over_cover、pages_resting、hand_on_pages，按合格页数量计算。" |
| }, |
| { |
| "atom": "ordered_terminal_hold", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:113-128,142-157；需记录stage、hold_steps、success、failure以及Checker.terminal与still结果；成功还要求按次序通过开环、双页开环离手装页、闭环链接并完成50控制步联合窗口。" |
| }, |
| { |
| "atom": "page_on_floor", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:146-150；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "page_free_fall", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:161-183；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:129；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "page_below_desk", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:130-133；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:113；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "page_outside_workspace", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:134-135；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:114-125；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "binder_displaced", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:136-138；inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:63；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:109；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "binder_tilted", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:139-140；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:110；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "wire_through_page", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:156-160；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:111；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "hand_through_page", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:151-155；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:126；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| }, |
| { |
| "atom": "unstable_physics", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:95-107；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "min_toggle_open_angle", |
| "unit": "rad", |
| "threshold": 0.5, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:106" |
| ] |
| }, |
| { |
| "name": "max_toggle_closed_angle", |
| "unit": "rad", |
| "threshold": 0.05, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:107" |
| ] |
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| { |
| "name": "hole_capture_radius", |
| "unit": "m", |
| "threshold": 0.0035, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:112" |
| ] |
| }, |
| { |
| "name": "binder_horizontal_shift", |
| "unit": "m", |
| "threshold": 0.03, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:109" |
| ] |
| }, |
| { |
| "name": "binder_tilt", |
| "unit": "rad", |
| "threshold": 0.35, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:110" |
| ] |
| }, |
| { |
| "name": "wire_page_penetration", |
| "unit": "m", |
| "threshold": 0.0012, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:111" |
| ] |
| }, |
| { |
| "name": "hand_page_penetration", |
| "unit": "m", |
| "threshold": 0.003, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:126" |
| ] |
| }, |
| { |
| "name": "page_window_translation", |
| "unit": "m", |
| "threshold": 0.002, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:127" |
| ] |
| }, |
| { |
| "name": "page_window_rotation", |
| "unit": "rad", |
| "threshold": 0.03, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:128" |
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| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json中logs为空，oracle也无状态日志；按P8所有when、never和success均为null，不能从代码中的字段名假定它们已被日志记录。微小穿孔误差、接触和静置容差需依赖原生阶段读数或补充提取器，视频只能部分辨认。", |
| "联合成功条件：原生stage必须依次经过rings_opened、pages_placed、rings_closed，随后terminal与still连续成立使hold_steps达到50，且无任何历史失败。pages_placed要求两板均>=0.50 rad、六孔由各自右半环恰穿一次且左半环零次、两页均离手、均有文件夹或另一页接触且页中心在后封面合格框；最终要求两板均<=0.05 rad、六孔闭环链接、页中心合格、两页受支承、手离开全部纸与文件夹，并相对窗口起点位移<=2 mm、转角<=0.03 rad。全局离手和共同窗口跨越多个步骤，归success，不单列release节点，也不在各装页节点复制另一张纸的接触检查。", |
| "S4(b)恢复步骤的初态处理：扣环从0 rad闭合开始，所以关上扣环只按机构闭合状态从初态计分；开环事件补偿其失分。最终六孔链接属于装页关系，联合放手静置归success；不以原生stage>=3门控关环，否则会隐去初态。", |
| "模式差异：standard直接评判最后一个实时回合；privileged在两个新进程中重放动作，要求两次物理成功且最终状态哈希一致。checker.py和runtime.py逐字相同，DAG只表达共同物理任务，不将轨迹格式、确定性哈希或基础设施状态虚构成世界状态节点。", |
| "成功视频标注4倍速，约29.8 s前为运动、末尾为成功近景静帧；50控制步的标称1 s属于模拟时钟，不可要求视频中等待1 s。第一帧已显示stage 1与扣环约0.6 rad，未呈现重置时刻；闭环初态依据场景铰链零值和runtime.reset核实，不能从视频首帧误判为开环初态。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "四个语义步骤、数量、机制顺序及所有容差均由任务文本和共同评分器支持，成功视频展示逐页装订及最终闭环离手；无状态日志，六孔拓扑和毫米级接触验收无法逐帧自检，因此降低置信度。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
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| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "四个节点（开环、第1/2张纸入环、闭环）与任务文本阶段(1)-(3)一致，两张纸按计数步处理，阶段(4)离手静置归success/开放问题，约束均为立即终止且取自评分器；无状态日志故when均为null并已在open_questions_zh说明。未发现需改内容的错误。", |
| "n_issues": 0, |
| "n_major": 0 |
| } |
| ], |
| "open_zh": [] |
| }, |
| "evidence_check": { |
| "n_state_runs": 0, |
| "n_faithful": 0, |
| "success_runs_reaching_all": "0/0", |
| "spec_success_eq_grader": "0/0", |
| "diverged_runs": [], |
| "notes_zh": [ |
| "when=null 的节点不在状态日志上检查：['rings_opened', 'pages_threaded_1', 'pages_threaded_2', 'rings_closed']" |
| ] |
| }, |
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| "created": "2026-10-29T10:33:06Z", |
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| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
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