| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/drying_rack_unfold", |
| "suite": "dexhand", |
| "base": "dexhand-drying-rack-unfold-i00", |
| "title_zh": "展开晾衣架并正放", |
| "summary_zh": "主架折角不超过18°、四条支腿各展开至少90°，晾衣架上轴偏离竖直不超过10°且只由四个球足触台，手完全离开、架体速度不超过0.02 m/s和0.2 rad/s并连续保持50个控制步，期间未触发立即失败条件。", |
| "embodiment_zh": "两种模式均为一只右侧灵巧手，默认Sharpa Wave（22个手指执行器），也可用Wuji Hand 2.2（20个手指执行器）；手安装在三平移加三转动的六自由度腕部定位台上，无机械臂、无移动底盘。privileged可读物理状态并选择手型，standard通过机器人服务使用预选手型和相机；物理场景及目标判据相同。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-drying-rack-unfold-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "rack_unfolded", |
| "zh": "展开主架", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "overview 视角中原先重叠的两半矩形架面绕中间杆铰链摊开，折角不超过 0.3141592653589793 rad（18°）；可结合视频原生 fold 字幕判断，侧面视角若有则可辅助辨认两半的夹角。两半仍明显相叠或折角重新超过此阈值即未完成或失去，手仍接触架子不影响本步。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与食指捏住活动半框的管边，绕架面铰链展开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "plan": 2, |
| "note_zh": "右手手指勾住活动半框的管边，借台面承托另一半框而翻开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "右手手指或手掌抵住活动半框的边缘，绕铰链推开。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-20", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:151-160", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:251-252", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:86-90", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:133-134", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:168", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d2bc9037f8/replay.py:90-95" |
| ], |
| "conf": 6, |
| "note_zh": "刚性铰接框架的打开，不是柔性材料展平；初始折角为 pi、底面朝上。展开架面可以与支腿操作交错，评分器只把架面与四腿的合取记为阶段1，未强制先完全展开架面再开任一腿。" |
| }, |
| { |
| "id": "legs_opened_1", |
| "zh": "第1条腿展开", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "从 overview 中数出至少 1 条已离开架面收纳位置、绕自身铰链展开到不小于 1.5707963267948966 rad（90°）的支腿，视频 legs 字幕的四个角度可辅助计数，若有 closeup 则辅助辨认杆端。任意 1 条达标即可，仍贴着架面或未到90°的腿不计；达标腿少于 1 条即未完成或失去，手仍接触支腿不影响本步。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与食指捏住任一尚未展开支腿的细杆或球足，绕其被动铰链扳开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "plan": 2, |
| "note_zh": "右手手指勾住任一尚未展开支腿的杆端或球足，绕铰链勾开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "右手手指抵住任一尚未展开支腿的细杆或球足，向展开方向拨动。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-20", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:48-58", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:135-148", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:53-54", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:86-89", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:169", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d2bc9037f8/replay.py:90-95" |
| ], |
| "conf": 6, |
| "note_zh": "四条支腿构造和阈值相同，按当前达标数量计第1条，不固定为某个左、右或固定、活动半框实例（暂行：DECISIONS.md N4）。计数边只表示至少1条蕴含此前计数，可同时达成；各腿初始角为0，没有锁扣，100°为物理止挡，90°为验收下限。" |
| }, |
| { |
| "id": "legs_opened_2", |
| "zh": "第2条腿展开", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "legs_opened_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "从 overview 中数出至少 2 条已离开架面收纳位置、绕自身铰链展开到不小于 1.5707963267948966 rad（90°）的支腿，视频 legs 字幕的四个角度可辅助计数，若有 closeup 则辅助辨认杆端。任意 2 条达标即可，仍贴着架面或未到90°的腿不计；达标腿少于 2 条即未完成或失去，手仍接触支腿不影响本步。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与食指捏住任一尚未展开支腿的细杆或球足，绕其被动铰链扳开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "plan": 2, |
| "note_zh": "右手手指勾住任一尚未展开支腿的杆端或球足，绕铰链勾开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "右手手指抵住任一尚未展开支腿的细杆或球足，向展开方向拨动。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-20", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:48-58", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:135-148", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:53-54", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:86-89", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:169", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d2bc9037f8/replay.py:90-95" |
| ], |
| "conf": 6, |
| "note_zh": "四条支腿构造和阈值相同，按当前达标数量计第2条，不固定为某个左、右或固定、活动半框实例（暂行：DECISIONS.md N4）。计数边只表示至少2条蕴含此前计数，可同时达成；各腿初始角为0，没有锁扣，100°为物理止挡，90°为验收下限。" |
| }, |
| { |
| "id": "legs_opened_3", |
| "zh": "第3条腿展开", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "legs_opened_2" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "从 overview 中数出至少 3 条已离开架面收纳位置、绕自身铰链展开到不小于 1.5707963267948966 rad（90°）的支腿，视频 legs 字幕的四个角度可辅助计数，若有 closeup 则辅助辨认杆端。任意 3 条达标即可，仍贴着架面或未到90°的腿不计；达标腿少于 3 条即未完成或失去，手仍接触支腿不影响本步。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与食指捏住任一尚未展开支腿的细杆或球足，绕其被动铰链扳开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "plan": 2, |
| "note_zh": "右手手指勾住任一尚未展开支腿的杆端或球足，绕铰链勾开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "右手手指抵住任一尚未展开支腿的细杆或球足，向展开方向拨动。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-20", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:48-58", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:135-148", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:53-54", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:86-89", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:169", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d2bc9037f8/replay.py:90-95" |
| ], |
| "conf": 6, |
| "note_zh": "四条支腿构造和阈值相同，按当前达标数量计第3条，不固定为某个左、右或固定、活动半框实例（暂行：DECISIONS.md N4）。计数边只表示至少3条蕴含此前计数，可同时达成；各腿初始角为0，没有锁扣，100°为物理止挡，90°为验收下限。" |
| }, |
| { |
| "id": "legs_opened_4", |
| "zh": "第4条腿展开", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "legs_opened_3" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "从 overview 中数出至少 4 条已离开架面收纳位置、绕自身铰链展开到不小于 1.5707963267948966 rad（90°）的支腿，视频 legs 字幕的四个角度可辅助计数，若有 closeup 则辅助辨认杆端。任意 4 条达标即可，仍贴着架面或未到90°的腿不计；达标腿少于 4 条即未完成或失去，手仍接触支腿不影响本步。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与食指捏住任一尚未展开支腿的细杆或球足，绕其被动铰链扳开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "plan": 2, |
| "note_zh": "右手手指勾住任一尚未展开支腿的杆端或球足，绕铰链勾开。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "右手手指抵住任一尚未展开支腿的细杆或球足，向展开方向拨动。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-20", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:48-58", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/862070f80d/scene.py:135-148", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:53-54", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:86-89", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:169", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d2bc9037f8/replay.py:90-95" |
| ], |
| "conf": 6, |
| "note_zh": "四条支腿构造和阈值相同，按当前达标数量计第4条，不固定为某个左、右或固定、活动半框实例（暂行：DECISIONS.md N4）。计数边只表示至少4条蕴含此前计数，可同时达成；各腿初始角为0，没有锁扣，100°为物理止挡，90°为验收下限。" |
| }, |
| { |
| "id": "rack_standing", |
| "zh": "晾衣架正放", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "rack_unfolded", |
| "legs_opened_4" |
| ], |
| "hold_s": 0.98, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "overview 中架面翻到正面朝上、四条腿向下，固定半框上轴偏离世界竖直不超过10°，四个球足均与台面接触且架框、铰链等其他架体部分均不触台，主架及四腿同时保持展开阈值；手已完全离开架体，各架体刚体的最大线速度不超过0.02 m/s、最大角速度不超过0.2 rad/s，连续50个控制步（名义1 s，首尾采样间隔0.98 s）。视频可见架子只由四足支承、手分离后保持静止，原生 hold 字幕达到50/50；仍倒放、少一足着台、框边着台、被手扶着或未保持足够时长都未完成，条件随后丢失即失去。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与其余手指抓住主架的管边或铰链套部，翻转并控制架子下降到四足支承，随后离手。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 2, |
| "note_zh": "右手手指或手掌抵住主架管边，借台面接触处作支点翻转并扶落到四足支承，随后离手。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-20", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:68-90", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:123-171", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:11-12", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:168-174", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/eb836781a3/runtime.py:104-125", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d2bc9037f8/replay.py:90-95" |
| ], |
| "conf": 6, |
| "note_zh": "翻转是达到四足正放的途中动作，依 DECISIONS.md S8 合入本步；松手、静置和50控制步为本步验收。阶段1和阶段2可以在同一次update内接连成立，无须额外等待；hold_s按D31取(50-1)*0.02=0.98 s，若日后记录原生released_hold_steps可直接比较>=50并将hold_s设为0，避免重复计时。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "rack_below_table", |
| "zh": "架体低于台面", |
| "never": null, |
| "criterion_zh": "任一架体碰撞几何体中心的世界 z < 0.75 m，在任一2 ms物理子步立即失败；检查中心而非几何体最低点。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:93-97", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:14" |
| ] |
| }, |
| { |
| "id": "rack_above_workspace", |
| "zh": "架体抬升过高", |
| "never": null, |
| "criterion_zh": "任一架体碰撞几何体中心 z > 1.65 m（台面0.75 m加允许高度0.9 m），在任一2 ms物理子步立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:30-31", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:98-99", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:14", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:175" |
| ] |
| }, |
| { |
| "id": "rack_off_counter", |
| "zh": "架体越出台边", |
| "never": null, |
| "criterion_zh": "任一架体碰撞几何体中心的 x 不在[-0.13, 1.37] m或 y 不在[-0.48, 0.48] m内，在任一2 ms物理子步立即失败，中心刚好在边界上不算越界。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:32-34", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:100-102", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:15-24" |
| ] |
| }, |
| { |
| "id": "rack_touched_floor_or_cabinet", |
| "zh": "架体触地触柜", |
| "never": null, |
| "criterion_zh": "任一架体碰撞部件与地面或台下柜体建立有效接触，在任一2 ms物理子步立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:49-51", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:68-84", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:103-105" |
| ] |
| }, |
| { |
| "id": "rack_dropped", |
| "zh": "晾衣架掉落", |
| "never": null, |
| "criterion_zh": "架体同时没有台面接触和手接触，且根刚体rack的世界竖直速度小于-0.05 m/s时，在第一个满足条件的2 ms物理子步立即失败，没有掉落后接回的宽限期。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:106-113", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:176" |
| ] |
| }, |
| { |
| "id": "rack_fell_over", |
| "zh": "站立后倾倒", |
| "never": null, |
| "criterion_zh": "仅在曾经达到阶段2的四足站立后，固定半框上轴偏离世界竖直超过20°，在任一2 ms物理子步立即失败；站立前为翻转而产生的大倾角不受此条限制。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:114-117", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:155-159", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:171" |
| ] |
| }, |
| { |
| "id": "rack_collapsed", |
| "zh": "站立后塌架", |
| "never": null, |
| "criterion_zh": "仅在曾经达到阶段2的四足站立后，主折角超过0.3141592653589793 rad或任一支腿角小于1.5707963267948966 rad，在任一2 ms物理子步立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:114-119", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:155-159", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b8a169a7d9/task.json:168-169" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理状态失稳", |
| "never": null, |
| "criterion_zh": "任一2 ms物理子步出现MuJoCo BADQPOS、BADQVEL或BADQACC警告，运行时立即记录unstable_physics并判失败；仅凭架体看似抖动不足以认定该警告。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/eb836781a3/runtime.py:104-120" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "fold_angle_open", |
| "level": "new_code", |
| "source": "待记录 dyn.fold_angle_rad：inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:86-89、136 的fold_angle_rad；条件为<=0.3141592653589793。" |
| }, |
| { |
| "atom": "leg_open_count", |
| "level": "new_code", |
| "source": "待记录 dyn.leg_angles_rad：inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:53-54、86-89、138 的四条支腿角；按>=1.5707963267948966计数，对应legs_opened_1至4。" |
| }, |
| { |
| "atom": "standing_released_still", |
| "level": "new_code", |
| "source": "待记录 dyn.standing、dyn.hand_rack_contacts、dyn.rack_linear_speed_m_s、dyn.rack_angular_speed_rad_s：inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:123-149、160-167；合取standing、接触数==0、速度<=0.02和<=0.2，再连续50控制步；或记录inputs/grader/efe_dexhand-files/privileged/environment/variants/eb836781a3/runtime.py:136的released_hold_steps。" |
| }, |
| { |
| "atom": "benchmark_success", |
| "level": "new_code", |
| "source": "待记录 dyn.success、dyn.failure：inputs/grader/efe_dexhand-files/privileged/environment/variants/eb836781a3/runtime.py:134-139 的原生逐帧checker状态；不使用独立验证器的交付或确定性结论。" |
| }, |
| { |
| "atom": "rack_workspace_limits", |
| "level": "new_code", |
| "source": "待记录 dyn.rack_collision_geom_centers：inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:93-102 的geom_xpos及counter_lo、counter_hi、table_z、max_height，覆盖低于台面、过高和越出台边约束。" |
| }, |
| { |
| "atom": "rack_ground_contact", |
| "level": "new_code", |
| "source": "待记录 dyn.rack_ground_contact：inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:68-84、103-105 的有效架体与floor或counter_cabinet接触。" |
| }, |
| { |
| "atom": "rack_drop", |
| "level": "new_code", |
| "source": "待记录 dyn.rack_counter_contact、dyn.hand_rack_contacts、dyn.rack_root_vz：inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:103-113 的接触及rack根刚体竖直速度，需2 ms子步捕获。" |
| }, |
| { |
| "atom": "standing_history_and_collapse", |
| "level": "new_code", |
| "source": "待记录 dyn.max_stage_seen、dyn.tilt_deg及主架、四腿角：inputs/grader/efe_dexhand-files/privileged/environment/variants/2f476ee029/checker.py:114-119、159；在曾站立后判定倾倒或塌架，需2 ms子步捕获。" |
| }, |
| { |
| "atom": "physics_instability", |
| "level": "new_code", |
| "source": "待记录 dyn.bad_physics_warning：inputs/grader/efe_dexhand-files/privileged/environment/variants/eb836781a3/runtime.py:104-114 的BADQPOS/BADQVEL/BADQACC警告，需2 ms子步捕获。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "fold_angle_rad", |
| "unit": "rad", |
| "threshold": 0.3141592653589793, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "leg_angles_rad[0]", |
| "unit": "rad", |
| "threshold": 1.5707963267948966, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "leg_angles_rad[1]", |
| "unit": "rad", |
| "threshold": 1.5707963267948966, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "leg_angles_rad[2]", |
| "unit": "rad", |
| "threshold": 1.5707963267948966, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "leg_angles_rad[3]", |
| "unit": "rad", |
| "threshold": 1.5707963267948966, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "tilt_deg", |
| "unit": "deg", |
| "threshold": 10.0, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "rack_linear_speed_m_s", |
| "unit": "m/s", |
| "threshold": 0.02, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "rack_angular_speed_rad_s", |
| "unit": "rad/s", |
| "threshold": 0.2, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "没有成功示范：inputs/oracle_none.txt说明16次目录运行均失败，未提供成功视频或运行记录；仅据任务文本、冻结初态、评分器和solution脚本规划，README提到的作者轨迹未作为可见示范提供，未运行解题脚本（暂行：DECISIONS.md N2）。", |
| "inputs/states/index.json的logs为空；全部6个when、8个never及success均为null，不将代码中存在的features字段假定为已记录日志。atoms列出待补记录的世界量，视觉判据来自场景几何与replay.py字幕代码，尚无示范帧校验（暂行：DECISIONS.md P8、N8）。", |
| "四腿同构且验收阈值相同，按至少1、2、3、4条已展开计数，允许任意腿先开并允许同时达标；不按fixed/moving或l/r实例指定动作顺序（暂行：DECISIONS.md N4）。", |
| "任务正文称支腿开到止挡，物理止挡为100°，但同一正文的明确成功阈值及checker均只要求每腿>=90°；按明确验收下限计达标，不额外要求精确抵达止挡（inputs/task/privileged/instruction.md:3、14-17；评分器配置:169）。", |
| "privileged评分要求两次独立回放均成功且终态哈希相同；standard评分读取最后一次实时episode的可信结果，不回放判分。两者checker.py、runtime.py、scene.py相同；DAG描述共同世界目标，交付、基础设施和确定性校验不伪装成语义步骤或世界状态（inputs/grader/efe_dexhand-files/privileged/tests/grade.py:113-129；inputs/grader/efe_dexhand-files/standard/tests/grade.py:22-29）。", |
| "50控制步以50 Hz计算，首个满足样本至第50个间隔0.98 s；最终正放节点hold_s按D31设置0.98，无日志无法核验计时。未来若直接使用原生released_hold_steps>=50，则应移除外加hold_s以免重复确认（checker.py:160-170；task.json:11-12、174）。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "6个语义步骤直接来自任务文本，初态、阈值、阶段顺序与立即失败条件均有源码证据，翻转并入正放遵循S8；没有状态日志和成功示范，所有可计算绑定及相机判据尚未获轨迹验证，故置信度为6。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "节点（展开主架、四条腿计数1..4、正放含离手静置）与任务正文步骤一致，翻转不单列，离手并入正放；约束为checker的立即失败条件，阈值与评分器一致；无状态日志与示范，when=null并在open_questions_zh中说明，无需修改内容。", |
| "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：['rack_unfolded', 'legs_opened_1', 'legs_opened_2', 'legs_opened_3', 'legs_opened_4', 'rack_standing']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:53:41Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", |
| "calls": [ |
| { |
| "stage": "dag", |
| "round": 0, |
| "ok": true, |
| "space": "work/tasks/dexhand__drying_rack_unfold/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/dexhand__drying_rack_unfold/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "ee3ba9a08064b7373bfed1f51654c83281c77628555fb6d11e529a9ee715d4b3", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
