| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/envelope_letter_insert", |
| "suite": "dexhand", |
| "base": "dexhand-envelope-letter-insert-i00", |
| "title_zh": "信纸插入信封", |
| "summary_zh": "信纸经信封口部送入袋腔，露出长度不超过 4.95 毫米，右手离开信纸及信封且两物体静止连续 50 个控制步，同时全程不触发掉落、越界、穿壁、信封过度移动或倾斜、非右手接触及物理不稳定的失败条件。", |
| "embodiment_zh": "两个模式均为固定底座的天机 Marvin 双臂机器人，每臂七个关节、腕端各有灵巧手；仅右臂及右手操作，左臂停放在躯干旁。默认使用 Sharpa Wave 灵巧手，每手 22 个手指执行器；也支持 Wuji Hand 2.2 灵巧手，每手 20 个手指执行器；两种手共用场景与成功判据。底座固定于桌子正 x 侧，不需要移动底盘。", |
| "task_class": "atomic", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-envelope-letter-insert-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "letter_in_envelope", |
| "zh": "信纸插入信封", |
| "level": "semantic", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "俯视总览或末段近景可见白色信纸从信封口部滑入前壁下，末端只余窄边而非大块露在袋外：以信封自身坐标计，最外角超过口线 x=55 毫米的距离不大于 4.95 毫米，四角均满足 |y|≤107.6 毫米、x≥-51.6 毫米、中面高度在 1.2～4.4 毫米之间。须先经过两前角入袋至少 10 毫米、两后角仍在口外的口部阶段，再达到上述插入状态，右手与信纸及信封均无有效接触、两物体各自线速度≤0.01 米每秒且角速度≤0.2 弧度每秒，连续 50 个控制步；视频叠字阶段 3/3、接触 L0/E0、静置 50/50 可辅助确认，仍有大片信纸露出、信纸仅叠在封面上、手仍接触或静置不足均未完成，完成后若退回口外、离开袋腔或重新接触或运动速度超限则失去该状态。", |
| "step": { |
| "cat": "关系", |
| "item": "插入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "右手指腹带动信纸沿桌面滑行，随后右手指尖推信纸外露的后缘进入信封窄口；操作过程中可以改换接触位置。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "替代方案：右手拇指与其他手指捏住信纸外露边缘送入口部，随插入深度改变握点，最后撤离信纸和信封；无掉落及穿壁约束仍须满足。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/task/standard/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:30-49", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:95-117", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:139-159", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:248-254", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:131-151", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-72", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/eca9b98723/scene.py:111-158", |
| "inputs/oracle/replay.mp4: 视频约 0、6、10、11.4、12 秒；末段近景阶段 3/3、接触 L0/E0、静置 50/50", |
| "inputs/oracle/run.json: steps id 57、60、62、66，成功轨迹及两次新进程复核" |
| ], |
| "conf": 6, |
| "note_zh": "一个对象的一次插入关系；对准口部、部分进入、改换接触点与退手静置均为途中动作或本步验收，不另建节点。口部、插入、释放三阶段在本步内部按评分器顺序验收，不是三个语义步骤。窄口属于紧配合槽，故用关系·插入。信封翻盖初始展开，口唇虽称闭合但其下有 4 毫米间隙，2 毫米信纸无需先打开口唇；本步初始不成立。hold_s=0 表示不额外叠加等待：验收已经要求评分器 released_hold_steps 达到 50；无状态日志时由视频及原生读数判定。接受状态要求离手，采用默认持物冻结。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "object_below_desk", |
| "zh": "物体低于桌面", |
| "never": null, |
| "criterion_zh": "信纸或信封的物体原点世界高度小于 0.698 米；每个 2 毫秒物理子步检查，首次触发即永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:177-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:12-15", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:66" |
| ] |
| }, |
| { |
| "id": "object_floor_contact", |
| "zh": "物体触地", |
| "never": null, |
| "criterion_zh": "信纸或信封与地面发生有效接触（接触的 efc_address 非负），立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-201" |
| ] |
| }, |
| { |
| "id": "unsupported_drop", |
| "zh": "物体失去支承", |
| "never": null, |
| "criterion_zh": "信纸或信封没有任何有效接触，且质心竖直速度小于 -0.1 米每秒；不设防抖，首个违规子步即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-222", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:70" |
| ] |
| }, |
| { |
| "id": "object_outside_workspace", |
| "zh": "物体离开桌区", |
| "never": null, |
| "criterion_zh": "信纸或信封的原点世界坐标超出 x∈[0.18,0.78] 米、y∈[-0.40,0.40] 米，或 z>1.00 米，立即失败；边界数值由桌面中心、半宽和最大高度推得。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:65-67", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:184-187", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:15-23", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:67" |
| ] |
| }, |
| { |
| "id": "letter_through_envelope", |
| "zh": "信纸穿透信封", |
| "never": null, |
| "criterion_zh": "信纸与信封的有效接触穿透深度超过 0.7 毫米，或信纸中面采样点落入信封背壁、前壁、侧封、底封或口唇实体内，即失败；采样点按评分器的 7×15 网格生成，距信纸平面边缘内缩 1 毫米。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:52-64", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:202-205", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:212-214", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:225-245", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:71-72" |
| ] |
| }, |
| { |
| "id": "envelope_displaced", |
| "zh": "信封移位过大", |
| "never": null, |
| "criterion_zh": "信封原点在水平面上偏离初始位置 (0.48,0.16) 米的欧氏距离超过 0.05 米，立即失败；不是累计路程，也不检查竖直位移。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:51", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:188-189", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-29", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:68" |
| ] |
| }, |
| { |
| "id": "envelope_tipped", |
| "zh": "信封倾斜过大", |
| "never": null, |
| "criterion_zh": "信封局部向上轴相对世界竖直方向倾斜超过 0.35 弧度，立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:190-191", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:69" |
| ] |
| }, |
| { |
| "id": "forbidden_robot_contact", |
| "zh": "非右手接触", |
| "never": null, |
| "criterion_zh": "机器人臂连杆、支架或停放的左手与信纸或信封发生有效接触即失败；允许操作物体的是右手，口唇也属于信封。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:68-85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:206-209", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:53-65" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理状态不稳定", |
| "never": null, |
| "criterion_zh": "物理子步出现位置、速度或加速度异常警告，或广义位置出现非有限值，立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-126" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "letter_inserted_released_hold", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:157-170；需逐帧记录 features() 的 stage_completed、stage_steps、inserted、corners_envelope_frame、hand_letter_contacts、hand_envelope_contacts、两物体线速度与角速度、released_hold_steps；按 :131-151 的有序阶段与 50 步计数验收。" |
| }, |
| { |
| "atom": "object_below_desk", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:177-183；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:12-15；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:66；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "object_floor_contact", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-201；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "unsupported_drop", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-222；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:70；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "object_outside_workspace", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:65-67；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:184-187；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:15-23；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:67；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "letter_through_envelope", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:52-64；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:202-205；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:212-214；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:225-245；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:71-72；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "envelope_displaced", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:51；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:188-189；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-29；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:68；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "envelope_tipped", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:190-191；inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:69；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "forbidden_robot_contact", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:68-85；inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:206-209；inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:53-65；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| }, |
| { |
| "atom": "unstable_physics", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-126；需记录 violation() 或物理不稳定检查在首次违规子步返回的 failure、failure_detail 及步号，不能仅靠稀疏控制帧重建。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "outside_m", |
| "unit": "m", |
| "threshold": 0.00495, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "letter_linear_speed_m_s", |
| "unit": "m/s", |
| "threshold": 0.01, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "envelope_linear_speed_m_s", |
| "unit": "m/s", |
| "threshold": 0.01, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "letter_angular_speed_rad_s", |
| "unit": "rad/s", |
| "threshold": 0.2, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "envelope_angular_speed_rad_s", |
| "unit": "rad/s", |
| "threshold": 0.2, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "envelope_shift_m", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "envelope_tilt_rad", |
| "unit": "rad", |
| "threshold": 0.35, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json 的 logs 为空，成功参考视频也没有状态日志；依暂行 DECISIONS.md P8，全部 when、never 和 success 均为 null，不能声称已经在状态回放中验证。毫米级袋内高度、穿透与瞬时速度无法仅由总览图精确量测；节点判据结合口部/近景、视频原生叠字及评分器读数，缺少这些证据且被遮挡时仍需保留未知。", |
| "粒度解释：按 S1、S2、S8，把口部进入阶段并入信纸插入步骤的有序验收，释放静置也并入该步；不根据三个原生阶段拆成三个节点。task.json:10 明说口唇闭合时的 4 毫米间隙允许 2 毫米信纸进入，故打开口唇不是每条合法路线的必经前置状态。", |
| "模式差异：privileged 的 grade.py:113-123 要求两次新进程均成功且终态哈希相同；standard 的 grade.py:22-38 读取服务实时终态。已逐字节确认两个模式 checker.py、runtime.py、scene.py、task.json 一致，DAG 表达共同物理结果；交付有效性、哈希复现与服务记录有效性不作为世界状态节点。", |
| "文本与评分实现差异：instruction.md:3 将穿壁表述为信纸中面任意点进入壁体，而 checker.py:52-57、225-245 实际只检查内缩 1 毫米的 7×15 个采样点，并辅以有效接触穿透大于 0.7 毫米的检查；约束按实际采样实现记录，不能声称检查了连续中面的全部点。", |
| "文本约束未单独受评：instruction.md 要求左臂停放并仅由右手操作；runtime.py:96-155 未比较左臂关节与初值，checker.py:76-85、206-209 仅在左手、臂或支架触碰信纸/信封时立即失败。保留右手接触方案与非右手接触失败约束，不额外发明左臂回位步骤或未实现的关节漂移阈值。", |
| "视频的秒数与叠字模拟时间不同：参考视频总长 13.28 秒，末段显示模拟时间 84.22 秒并附最终静帧；这里只用视频秒数定位外观，不把工作日志时间或模拟时间直接当视频时间。参考成功仅用于确认可见结果，接触方案按暂行 DECISIONS.md P14 分列推送与捏持。", |
| "inserted_fraction 在 checker.py:122-125 标为诊断量，不能用其达到 95% 替代四角深度、侧封、袋内高度及有序阶段验收；native_metrics 仅列实际参与成功或立即失败判定的连续量，阈值来自 task.json:25-72、checker.py:95-117、188-191、248-254。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "文本语义支持单个插入步骤，所有几何阈值、阶段顺序、接触释放和静置计数均有评分源码，初态与口唇间隙可核实，成功视频及原生叠字支持最终结果；没有任何状态日志，无法逐帧绑定或核验毫米级袋内位置和子步失败条件，因此置信度为 6。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "单节点原子任务：文本步骤“把信纸送入信封口并松手”折叠为一个目标节点，口部阶段与释放静置并入其验收，符合 S1/S8；阈值（4.95 mm、|y|≤107.6、x≥-51.6、1.2–4.4 mm、0.01 m/s、0.2 rad/s、50 控制步）与失败条件均与说明文字一致，约束为立即终止；无状态日志故 when/never/success 为 null（P8），已列入 open_questions_zh。", |
| "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：['letter_in_envelope']" |
| ] |
| }, |
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| "engine": "codex", |
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| "effort": "high", |
| "created": "2026-10-29T11:30:01Z", |
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| "inputs_manifest_sha256": "767e881d2217837e1dddfd412d18a760905fe118eff4e1910f8c390c3259a46a", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
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