| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/essential_cube_reorient", |
| "suite": "dexhand", |
| "base": "dexhand-essential-cube-reorient-i00", |
| "title_zh": "固定手腕球体重定向", |
| "summary_zh": "固定手腕且全程保持手与球接触、不借外部支撑，依次达到掌局部 Y 轴正转90度、再绕 X 轴正转90度和恢复初始朝向的检查点，最后双指低速稳住达到保持要求。", |
| "embodiment_zh": "两种模式均为固定六自由度腕定位台上的一只右手灵巧手，无移动底盘；可使用Sharpa Wave 灵巧手（22个独立手指执行器）或 Wuji Hand 2.2 灵巧手（20个），每回合只用一只手，成功参考使用 Sharpa 手。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-essential-cube-reorient-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "sphere_first_orientation", |
| "zh": "球达首轴朝向", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "总览中白色灵巧手指间的蓝色球由手指滚动，红、绿、橙色方向标记相对固定手掌达到绕掌局部 Y 轴正转 90°的布局（相对重置后朝向，cube_error_1 在 0 至 0.16 rad 内）；2 至 5 个不同指尖垫接触球且各接触力大于 0.01 N，物体各自由度最大绝对速度不超过 0.25（平移 m/s、转动 rad/s），连续 5 个 0.02 s 控制样本且每个样本全部 2 ms 子步均满足后完成。仅手指换位、球位置移动或短暂转过目标都不算；标记遮挡时不能仅凭蓝色轮廓判定朝向，完成后允许继续转离此姿态。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "手内调整", |
| "note_zh": "右手灵巧手的多个手指持续接触并滚动蓝色标记球，在检查点由至少两个指尖垫稳住；不限定拇指、食指或中指组合。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:1-14", |
| "task/privileged/environment/instance.json:95-112", |
| "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:93-116", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:118-147", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:332-374", |
| "oracle/replay.mp4:0.00-5.96 s (overview)" |
| ], |
| "conf": 6, |
| "note_zh": "目标是自由标记球的朝向，类型为位姿·调整位姿，手内调整只作接触标签；不指定手指组合或控制路径。使用评分器已接受的历史检查点语义，原生 stage_index 达到对应阶段后锁存，继续旋转不丢失。保持由原生计数验收，hold_s 为 0，避免重复计时；无状态日志故 when 为 null。" |
| }, |
| { |
| "id": "sphere_second_orientation", |
| "zh": "球达次轴朝向", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "sphere_first_orientation" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "首检查点完成后，蓝色球的方向标记相对手掌达到从首轴目标再绕掌局部 X 轴正转 90°的布局，目标旋转为 Rx(pi/2)Ry(pi/2)，cube_error_2 在 0 至 0.16 rad 内；2 至 5 个不同指尖垫以大于 0.01 N 的接触力触球、最大绝对自由度速度不超过 0.25（平移 m/s、转动 rad/s），连续 5 个 0.02 s 控制样本且全部 2 ms 子步合格后完成。球仍在首轴朝向、未先通过首检查点、只是平移或未稳住均不算；总览内小标记遮挡时需可辨标记的画面或原生阶段证据，完成后允许转离。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "手内调整", |
| "note_zh": "右手灵巧手的多个手指持续接触并滚动蓝色标记球，在检查点由至少两个指尖垫稳住；不限定拇指、食指或中指组合。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:1-14", |
| "task/privileged/environment/instance.json:113-130", |
| "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:93-116", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:118-147", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:332-374", |
| "oracle/replay.mp4:0.00-5.96 s (overview)" |
| ], |
| "conf": 6, |
| "note_zh": "目标是自由标记球的朝向，类型为位姿·调整位姿，手内调整只作接触标签；不指定手指组合或控制路径。使用评分器已接受的历史检查点语义，原生 stage_index 达到对应阶段后锁存，继续旋转不丢失。保持由原生计数验收，hold_s 为 0，避免重复计时；无状态日志故 when 为 null。" |
| }, |
| { |
| "id": "sphere_initial_orientation", |
| "zh": "球回初始朝向", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "sphere_second_orientation" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "前两个检查点依次完成后，蓝色球的方向标记恢复到重置后相对手掌的初始布局（cube_error_3 在 0 至 0.16 rad 内），先以 2 至 5 个指尖垫接触且速度不超过 0.25 连续通过 5 个控制样本的第三阶段，再以同样朝向和接触条件、速度不超过 0.06 连续保持 25 个额外样本；控制周期 0.02 s，所有 2 ms 子步均须合格，速度的平移单位为 m/s、转动单位为 rad/s。总览可见球在白色手指间停稳，辨明的标记布局与开局一致；开局原姿态不算已返回，未完成有序阶段或末段保持仍未完成，达成后若朝向、双指接触或低速条件失去则不再成立（正常成功即终止）。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "手内调整", |
| "note_zh": "右手灵巧手的多个手指持续接触并滚动蓝色标记球，在检查点由至少两个指尖垫稳住；不限定拇指、食指或中指组合。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:1-14", |
| "task/privileged/environment/instance.json:131-166", |
| "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:93-116", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:118-147", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:332-374", |
| "oracle/replay.mp4:0.00-5.96 s (overview)", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:61-85", |
| "task/privileged/environment/instance.json:150-165", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:161-176" |
| ], |
| "conf": 6, |
| "note_zh": "末段保持并入回初始朝向，不另建稳住或保持节点。采用 state 且 freeze_held=false；完整验收包含原生 stage_index=3、terminal_hold>=25 及未失败，开局只有几何朝向成立而有序验收不成立，不从开局计分（DECISIONS.md D7 的原生阶段读法）。after 说明评分器顺序，state 本身不靠边门控；hold_s 为 0，保持由原生计数验收。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "excess_contact_force", |
| "zh": "接触力越界", |
| "never": null, |
| "criterion_zh": "任一物体接触的力模长不在 0 至 80 N 内即失败；画面可能出现挤压或冲击，但无法仅凭视频定量判断 80 N。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:8-11", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:203-210", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "object_displaced", |
| "zh": "球偏移过大", |
| "never": null, |
| "criterion_zh": "球心相对手掌的位置偏离重置后值超过 0.07 m 即失败；视频表现为球滑离初始手内区域。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:12-15", |
| "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:95-100", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "hand_contact_lost", |
| "zh": "球脱离手", |
| "never": null, |
| "criterion_zh": "球与任一手部连杆之间大于 0.005 N 的接触数少于 1 即失败；球完全离手或掉落后不能在本回合恢复。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:16-19", |
| "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:101-113", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "object_height_invalid", |
| "zh": "球高度越界", |
| "never": null, |
| "criterion_zh": "球心世界高度低于 0.18 m 或高于 0.60 m 即失败；桌面为 0.10 m，球落向桌面前即可触发。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:20-23", |
| "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:100", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "palm_translated", |
| "zh": "手掌平移越界", |
| "never": null, |
| "criterion_zh": "手掌位置相对重置后漂移超过 0.003 m 即失败；手应固定在台面上方，不能靠整体移动手腕搬动球。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:24-27", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:258-261", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "object_overspeed", |
| "zh": "球速度越界", |
| "never": null, |
| "criterion_zh": "物体任一自由度绝对速度超过 12（平移 m/s、转动 rad/s）即失败；视频中的突然弹飞或急转只能提示，阈值需原生速度证据。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:28-31", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:257", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "external_support", |
| "zh": "球借外部支撑", |
| "never": null, |
| "criterion_zh": "物体与环境的接触力大于 0.01 N 时 support 非零即失败；总览中蓝色球始终悬于桌面上方由手接触，不能碰桌面或固定环境来借力。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:32-35", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:221-241", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "palm_rotated", |
| "zh": "手掌转动越界", |
| "never": null, |
| "criterion_zh": "手掌相对重置后的旋转超过 0.01 rad 即失败；只能动手指，不能靠转腕完成球的目标朝向，六个腕目标须保持文本指定值（允许浮点传输舍入）。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:36-39", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:258-262; grader/efe_dexhand-files/privileged/environment/runtime.py:317-325", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| }, |
| { |
| "id": "invalid_physics", |
| "zh": "物理状态无效", |
| "never": null, |
| "criterion_zh": "任一评分所需物理特征不是有限数，或出现不稳定物理警告时立即失败；视频可能冻结或异常，必须用模拟器诊断确认。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/environment/instance.json:7-40", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:332-348; grader/efe_dexhand-files/privileged/environment/checker.py:101-110", |
| "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374", |
| "grader/efe_dexhand-files/privileged/environment/checker.py:105-117" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "cube_error_1", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:114-116; add replay logging of native cube_error_1 (no state log supplied)" |
| }, |
| { |
| "atom": "cube_error_2", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:114-116; add replay logging of native cube_error_2 (no state log supplied)" |
| }, |
| { |
| "atom": "cube_error_3", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:114-116; add replay logging of native cube_error_3 (no state log supplied)" |
| }, |
| { |
| "atom": "contacts", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:221-243; add replay logging of native contacts (no state log supplied)" |
| }, |
| { |
| "atom": "speed", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:257,350-351; add replay logging of native speed (no state log supplied)" |
| }, |
| { |
| "atom": "force", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:203-210,350-351; add replay logging of native force (no state log supplied)" |
| }, |
| { |
| "atom": "support", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:221-244; add replay logging of native support (no state log supplied)" |
| }, |
| { |
| "atom": "palm_drift", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:261; add replay logging of native palm_drift (no state log supplied)" |
| }, |
| { |
| "atom": "wrist_rotation", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:262; add replay logging of native wrist_rotation (no state log supplied)" |
| }, |
| { |
| "atom": "object_displacement", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:95-100; add replay logging of native object_displacement (no state log supplied)" |
| }, |
| { |
| "atom": "object_height", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:100; add replay logging of native object_height (no state log supplied)" |
| }, |
| { |
| "atom": "object_hand_contacts", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:101-113; add replay logging of native object_hand_contacts (no state log supplied)" |
| }, |
| { |
| "atom": "stage_index", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/checker.py:118-131; add replay logging of native stage_index (no state log supplied)" |
| }, |
| { |
| "atom": "stage_hold", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/checker.py:128-131; add replay logging of native stage_hold (no state log supplied)" |
| }, |
| { |
| "atom": "terminal_hold", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/checker.py:132-146; add replay logging of native terminal_hold (no state log supplied)" |
| }, |
| { |
| "atom": "failure", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/checker.py:105-126; grader/efe_dexhand-files/privileged/environment/runtime.py:340-348; add replay logging of native failure (no state log supplied)" |
| }, |
| { |
| "atom": "window_valid", |
| "level": "new_code", |
| "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:331-359; add replay logging of native window_valid (no state log supplied)" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "cube_error_1", |
| "unit": "rad", |
| "threshold": 0.16, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "cube_error_2", |
| "unit": "rad", |
| "threshold": 0.16, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "cube_error_3", |
| "unit": "rad", |
| "threshold": 0.16, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "contacts", |
| "unit": "fingers", |
| "threshold": 2, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "speed_stage", |
| "unit": "m/s or rad/s", |
| "threshold": 0.25, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "speed_terminal", |
| "unit": "m/s or rad/s", |
| "threshold": 0.06, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "force", |
| "unit": "N", |
| "threshold": 80, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "speed_invariant", |
| "unit": "m/s or rad/s", |
| "threshold": 12, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "palm_drift", |
| "unit": "m", |
| "threshold": 0.003, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "wrist_rotation", |
| "unit": "rad", |
| "threshold": 0.01, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "object_displacement", |
| "unit": "m", |
| "threshold": 0.07, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "object_height", |
| "unit": "m", |
| "threshold": [ |
| 0.18, |
| 0.6 |
| ], |
| "direction": "target" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json 的日志列表为空，按 DECISIONS.md P8，全部节点 when、约束 never 及 success 均为 null；atoms 列出需新增日志记录的原生特征和阶段计数，未把未记录字段绑定为可检查条件。不能执行基于状态的到达率或评分器一致性验证。", |
| "DECISIONS.md D7：恢复的是球的初始朝向，文本明确要求作为第三个检查点；采用包含评分器已按序完成第三阶段和末段保持的完整验收，末节点为 state，开局几何朝向相同并不等于通过第三检查点。首两节点为锁存 event，因为成功时不要求球仍留在中间朝向。", |
| "成功参考只有总览视频：白色手指间的蓝色球很小，红、绿、橙色标记常被遮住，不能从轮廓或手指姿态确认精确的90度目标、0.16 rad误差、接触力或2 ms连续满足；需可辨标记的视角或原生物理特征补证，没有据此估计阈值。", |
| "两模式冻结实例内容相同且共享物理检查器；特权模式还要求两次新进程回放均成功并且末状态哈希相同（grader/efe_dexhand-files/privileged/tests/grade.py:113-118），标准模式取可信服务最后回合的实时成功（grader/efe_dexhand-files/standard/tests/grade.py:22-29）。这些交付与确定性差异不增设物理步骤，success 在无日志时保持 null。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "三个步骤、顺序、全部数值阈值和保持计数均有文本及冻结评分器依据，成功视频与手内操作相符；但没有状态日志，总览中方向标记遮挡，无法独立核实每个精确姿态与子步验收。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "三个检查点节点与指令一致，顺序边为评分器阶段顺序；末节点包含第三阶段和25样本末段保持，阈值与指令一致；约束均为评分器失败条件且立即终止；无状态日志，when/success 为 null 且已在 open_questions_zh 说明。未发现需改动之处。", |
| "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：['sphere_first_orientation', 'sphere_second_orientation', 'sphere_initial_orientation']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
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| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:50:45Z", |
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| "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__essential_cube_reorient/01_dag" |
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| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/dexhand__essential_cube_reorient/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "502d5e63de032d53384b1b34bcf33f417dd0aec1b066764388233968636d71bb", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
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|
|
