| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/essential_two_object", |
| "suite": "dexhand", |
| "base": "dexhand-essential-two-object-i00", |
| "title_zh": "核桃独立转动与选择释放", |
| "summary_zh": "固定手腕并全程悬空稳持核桃B且两核桃不相碰，依次使A绕掌心Y轴正转90度、回到初始朝向，再仅将A释放到接盘中心附近并静置至终态保持完成。", |
| "embodiment_zh": "两模式均为单只右侧五指灵巧手，装在六自由度定位台上且本任务锁定全部腕关节，无移动底盘；默认Sharpa Wave为22个手指驱动，也支持20个手指驱动的Wuji Hand 2.2，每回合只用一只手，复位抓姿可随手型不同。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-essential-two-object-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "a_quarter_turned", |
| "zh": "A转九十度", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "固定手腕，用手指使悬空核桃A相对复位朝向绕掌心局部Y轴正向转90°，目标旋转误差不超过0.16 rad；A须有1至5根承重接触手指，所有任务物体自由度的最大绝对速度不超过0.25，连续5个50 Hz控制样本且各样本内每个2 ms子步均满足。总览视角中可见浅灰手指包围的棕色核桃A外壳纹理或轮廓相对掌心转过约四分之一圈；只动手指而核桃未达目标不算完成，核桃被完全遮挡时须用原生阶段记录核实。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "手内调整", |
| "note_zh": "右手若干手指在掌内滚转核桃A，不松脱A。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "同一右手的其余手指持续抓住核桃B，保持B的初始位姿。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:64-68", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:100-135", |
| "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:237-255", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_two_object_scene.py:129-164", |
| "inputs/oracle/replay.mp4: 手指包围核桃的总览画面" |
| ], |
| "conf": 6, |
| "note_zh": "自由核桃调姿，非机构旋转；九十度不是翻面。5样本由原生阶段计数验收，未来宜记录stage_index>=1，故hold_s为0以免重复保持。B保持及A旋转前两阶段的悬空承重、位移和速度边界归约束；不限定具体参与手指。" |
| }, |
| { |
| "id": "a_returned", |
| "zh": "A回初始朝向", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "a_quarter_turned" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "仅在A转九十度阶段已完成后，将仍在手中悬空的A转回复位朝向，旋转误差不超过0.16 rad，A有1至5根承重接触手指，所有任务物体自由度的最大绝对速度不超过0.25，连续5个50 Hz控制样本且每个2 ms子步均满足。总览画面应见A外壳纹理或轮廓相对掌心恢复开局方向；开局本来同向、只回摆手指或尚未先转到九十度均不算回正，遮挡时依据原生第二阶段完成记录。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "手内调整", |
| "note_zh": "右手操纵核桃A的手指将A在手内转回初始朝向。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "同一右手的其余手指持续抓住核桃B，避免B移位或转动。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:137-171", |
| "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:237-241", |
| "docs/DECISIONS.md:438-457", |
| "inputs/oracle/run.json: steps[id=108]记录释放前stage_index=2" |
| ], |
| "conf": 6, |
| "note_zh": "按DECISIONS.md D7对此任务的现行处理，回正为锁存event而非开局即得分的state；最终释放不再检查A朝向。未来宜记录stage_index>=2，5样本窗口由该阶段计数承担，hold_s不重复计时。" |
| }, |
| { |
| "id": "a_in_tray", |
| "zh": "A放入接盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "a_returned" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "仅释放A：A不再与手承重接触（a_hand_contacts=0），与接盘底有至少一个有效接触且中心到盘中心的水平距离不超过0.04 m，先连续5个控制样本完成释放阶段；随后同样的落盘条件、B仍有1至5根承重接触手指、所有任务物体自由度最大绝对速度不超过0.06，另连续25个50 Hz样本且各2 ms子步均满足。总览应见一枚棕色核桃A停在手下方浅灰方形接盘的中央附近，另一枚B仍留在手内；A仍在空中、被手托住、离开中央容差或继续滚动均未完成，达标后离盘或重被手接触即失去该状态。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右手操纵A的手指选择性张开使A落入接盘，同时同一右手的其余手指持续抓住核桃B。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:173-200", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:256-279", |
| "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:128-146", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-204", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:256", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_two_object_scene.py:19-35", |
| "inputs/oracle/replay.mp4: 约12秒起可见A在浅灰接盘内；B仍在手内", |
| "inputs/oracle/run.json: steps[id=112]两次回放stage_index=3且terminal_hold=25" |
| ], |
| "conf": 7, |
| "note_zh": "释放、落下和静置是一次放入的验收，不另建动作或终态节点。未来须记录stage_index>=3、terminal_hold>=25及实时落盘/速度条件，hold_s为0以免重复原生计数；第三阶段的5样本与随后25样本不能重叠。freeze_held=false使重新接触A能反映状态丢失。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "wrist_moved", |
| "zh": "手腕移动", |
| "never": null, |
| "criterion_zh": "全程掌心相对复位位置漂移超过0.003 m，或旋转超过0.01 rad即失败；固定腕的六个指令目标也必须保持[-0.08,0,0.29,0,0,0]，允许规定的浮点归一化。画面中整个手腕相对接盘明显平移或转动可提示违规，精确界限及非法指令须查原生记录。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10-14", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:207-214", |
| "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:310-325" |
| ] |
| }, |
| { |
| "id": "b_pose_lost", |
| "zh": "B位姿偏移", |
| "never": null, |
| "criterion_zh": "任一2 ms子步，B相对复位掌心坐标的位置误差超过0.015 m，或朝向误差超过0.2 rad即失败；画面中原留在手内的B发生滑移或转动为可见线索，微小变化须查原生特征。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:219-226", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:237-241", |
| "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:352-367" |
| ] |
| }, |
| { |
| "id": "b_hold_lost", |
| "zh": "B失去悬空握持", |
| "never": null, |
| "criterion_zh": "全程B必须无环境承重接触（b_support=0），至少一个有效手接触（b_hand_contacts>=1），且有1至5根承重接触手指；任一条件失去立即失败。画面中B掉出手、落到接盘或借桌面支撑均违规；有效接触点力须大于0.005 N，手指接触按该指所有接触点的合力大于0.005 N计。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:227-238", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:175-204", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_two_object_scene.py:129-164" |
| ] |
| }, |
| { |
| "id": "walnuts_touched", |
| "zh": "两核桃相碰", |
| "never": null, |
| "criterion_zh": "全程两枚核桃之间不得产生有效接触（ball_pair_contacts必须为0，接触力大于0.005 N才计）；可见两核桃碰撞或挤到一起提示违规。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:215-218", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:185-189" |
| ] |
| }, |
| { |
| "id": "a_outside_envelope", |
| "zh": "A掉落或越界", |
| "never": null, |
| "criterion_zh": "全程A中心高度必须处于[0.135,0.6] m，A中心到接盘中心的水平距离必须处于[0,0.10] m；任一子步超界立即失败。画面中A掉向台面、越过接盘允许范围或被抬得过高提示违规。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:247-254", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:245-256" |
| ] |
| }, |
| { |
| "id": "a_speed_exceeded", |
| "zh": "A速度越限", |
| "never": null, |
| "criterion_zh": "全程A线速度必须处于[0,2.5] m/s、角速度处于[0,80] rad/s，释放阶段也用同一边界；任何子步越限立即失败。画面中的突然弹飞或高速旋转是线索，精确值须查原生速度特征。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:190-198", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:239-246", |
| "inputs/grader/efe_dexhand-files/privileged/environment/essential_rotary_multi.py:246-248" |
| ] |
| }, |
| { |
| "id": "force_exceeded", |
| "zh": "接触力越限", |
| "never": null, |
| "criterion_zh": "任一任务核桃的最大接触力必须处于[0,80] N，按每个2 ms物理子步检查，超过80 N立即失败；视频不能可靠判断力值，须依据原生接触力或失败记录。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:203-206", |
| "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:203-210", |
| "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:350-367" |
| ] |
| }, |
| { |
| "id": "a_prerelease_guard_lost", |
| "zh": "A提前失握或偏移", |
| "never": null, |
| "criterion_zh": "仅第一、第二阶段活动期间，A须至少一个有效手接触、无环境承重接触、相对复位掌心位置误差不超过0.035 m，且所有任务物体自由度最大绝对速度处于[0,12]；任一子步不满足立即失败。画面中A在完成转动和回正前掉出手、借接盘支撑或明显离开手内工作区均违规；进入释放阶段后不再要求A留在手中。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:117-133", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b88a812bad/catalog.json:153-169", |
| "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:118-127", |
| "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:352-367" |
| ] |
| }, |
| { |
| "id": "invalid_physics", |
| "zh": "物理状态无效", |
| "never": null, |
| "criterion_zh": "任何评分所需特征缺失或不是有限数值，或出现BADQPOS、BADQVEL、BADQACC、BADCTRL等不稳定物理警告，立即终止失败；以模拟器原生失败记录为准，单凭视频停住不能判定。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:101-110", |
| "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-348" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "a_quarter_turned", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:155 checker.snapshot().stage_index >= 1; log the completed native stage per control sample." |
| }, |
| { |
| "atom": "a_returned", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:155 checker.snapshot().stage_index >= 2; log the completed native stage per control sample." |
| }, |
| { |
| "atom": "a_in_tray", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:155-158 log checker.stage_index, checker.terminal_hold plus live features a_hand_contacts, deposit_support_a, a_deposit_distance, b_finger_contacts, speed; require stage_index>=3 and terminal_hold>=25 and current terminal bounds." |
| }, |
| { |
| "atom": "wrist_moved", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: palm_drift, wrist_rotation and locked-wrist command validation." |
| }, |
| { |
| "atom": "b_pose_lost", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: b_position_error, b_orientation_error." |
| }, |
| { |
| "atom": "b_hold_lost", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: b_support, b_hand_contacts, b_finger_contacts." |
| }, |
| { |
| "atom": "walnuts_touched", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: ball_pair_contacts." |
| }, |
| { |
| "atom": "a_outside_envelope", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: a_height, a_deposit_distance." |
| }, |
| { |
| "atom": "a_speed_exceeded", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: a_linear_speed, a_angular_speed." |
| }, |
| { |
| "atom": "force_exceeded", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: force." |
| }, |
| { |
| "atom": "a_prerelease_guard_lost", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: checker.stage_index, a_hand_contacts, a_support, a_position_error, speed." |
| }, |
| { |
| "atom": "invalid_physics", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/runtime.py:332-374 log substep violations/peaks and native fields: checker.failure and MuJoCo warning state." |
| }, |
| { |
| "atom": "task_success", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/checker.py:80-85,150-160 log the benchmark per-frame checker.snapshot().success, failure, stage_index and terminal_hold; not an external verifier verdict." |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "a_quarter_turn_error", |
| "unit": "rad", |
| "threshold": 0.16, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "a_orientation_error", |
| "unit": "rad", |
| "threshold": 0.16, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "a_position_error", |
| "unit": "m", |
| "threshold": 0.035, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "a_deposit_distance", |
| "unit": "m", |
| "threshold": 0.04, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "b_position_error", |
| "unit": "m", |
| "threshold": 0.015, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "b_orientation_error", |
| "unit": "rad", |
| "threshold": 0.2, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "force", |
| "unit": "N", |
| "threshold": 80, |
| "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": "a_linear_speed", |
| "unit": "m/s", |
| "threshold": 2.5, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "a_angular_speed", |
| "unit": "rad/s", |
| "threshold": 80, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "a_height", |
| "unit": "m", |
| "threshold": [ |
| 0.135, |
| 0.6 |
| ], |
| "direction": "target" |
| }, |
| { |
| "name": "speed_rotate_return", |
| "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" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空；按DECISIONS.md P8，三个节点的when、全部约束的never及success均为null，atoms标明待补录原生阶段、终态保持计数和物理特征的new_code来源，不能从成功声明伪造状态条件。", |
| "回初始朝向采用DECISIONS.md D7对此任务的现行event处理：第二阶段须在九十度阶段后完成，不能把开局同向计为已经回正，释放后也不要求A继续同向；这与结束时必须恢复的容器关闭state不同。", |
| "成功视频只有总览视角，核桃较小且手内大部分受遮挡，无法逐帧精确读出0.16 rad、微小位置容差或接触力；判据采用可见壳纹/轮廓变化与原生阶段验收，并保留证据不足。视频可见A最终停在浅灰方形接盘内，run.json的steps[id=112]两次原生回放均stage_index=3、terminal_hold=25；这不是状态日志重放校验。", |
| "两模式的instance.json与privileged catalog任务定义完全一致，标准模式复用同一checker和runtime；privileged外层要求两次独立回放成功且终态哈希一致，standard按服务中最后一次现场回合判定。DAG覆盖共同物理任务，外层交付、哈希和基础设施有效性不建步骤；无状态日志故success无法校验这些判分差异。", |
| "接触定义以代码为准：手接触、核桃间接触和环境支撑按单接触点力大于0.005 N计，手指接触则按同一手指各接触点力求和后大于0.005 N计，细节见essential_two_object_scene.py:154-164；指令中的简写并未逐项说明此差别。", |
| "native_metrics的a_deposit_distance=0.04 m用于落盘验收，全程越界界限是0.10 m；speed在转动与回正完成时上限0.25、活动阶段守卫上限12、终态上限0.06，单位随任务物体自由度为m/s或rad/s，均来自catalog.json:100-279。原生5样本与25样本计数包含每个控制区间的全部物理子步，未来若使用计数条件则不再添加hold_s。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "三个步骤直接来自指令，阈值与顺序由同一评分器和两模式一致的实例定义支持，初态由复位代码与视频核对；没有状态日志，手内核桃朝向及微小接触条件被总览画面遮挡，无法完成动态绑定或跨轨迹一致性校验。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "三步（A转90°、A回正、A放入接盘并静置）与指令一致；阶段/终态条件与catalog的三阶段和terminal一致，约束均为立即终止；无状态日志故when为null符合P8，已在open_questions_zh说明。回正采用D7的event读法已列为开放点。无需修改。", |
| "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：['a_quarter_turned', 'a_returned', 'a_in_tray']" |
| ] |
| }, |
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| "created": "2026-10-29T09:51:58Z", |
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| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
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