| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/ram_module_install", |
| "suite": "dexhand", |
| "base": "dexhand-ram-module-install-i00", |
| "title_zh": "插入内存并闭扣", |
| "summary_zh": "内存条经合规拾取后按正确键向插入主板最外侧插槽并闭合被动锁扣，松手后就位、闭扣和静止共同保持50个控制步，且全程未触发失败。", |
| "embodiment_zh": "两种模式均为一只右侧灵巧手安装在六自由度腕部定位台上（三平移、三串联旋转，无机械臂和移动底盘）；默认Sharpa Wave有22个手指执行器，可用Wuji Hand 2.2的20个手指执行器，单回合仅用一只手，物理任务及判据相同。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-ram-module-install-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "module_seated", |
| "zh": "插入内存", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "总览中绿色内存条直立嵌入主板最外侧黑色插槽socket_3，两端均降到槽底；量化验收为两下端距插槽基面各1.5–2.6 mm、两端最大横向偏差不超过0.5 mm、中心沿槽偏差不超过1.0 mm、高度轴离竖直及长度轴离正确键向均不超过3°，仍被手捏持也计就位，悬在槽上、单端翘起、反向或被手带出此范围均不成立。最终联合验收还要求先发生脱离泡沫架的合规拾取，再就位、再闭扣（同一控制步可依次通过阶段），随后连续50个50 Hz控制步同时就位、闭扣、手与内存条及锁扣均无接触，内存线速度不超过0.01 m/s、角速度不超过0.2 rad/s；任何一项不成立，计数归零。", |
| "step": { |
| "cat": "关系", |
| "item": "插入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与食指、中指等其他手指捏持内存条侧面，移到目标插槽并向下送入；手指数目不限定为录像中的三指。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:64-75", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:206-212", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:96-105", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:170-184", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:191-196", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:225-228", |
| "inputs/oracle/replay.mp4 @ 0, 6, 15, 26.5-28.5 s" |
| ], |
| "conf": 6, |
| "note_zh": "按DECISIONS.md D5、D10及CASES.md STEP-6，取出泡沫架、拿起、搬运和键向校正并入插入过程，不另建拾取或对准节点；原生picked阶段的接触要求保留在最终success的文字定义中。就位状态实时计数，不用锁存stage>=2替代；录像约27.5–28 s松手时两端升到约6–7 mm，故此前就位应失去。联合松手静置窗口覆盖两个节点，统一放入success，不对本节点另设延时。" |
| }, |
| { |
| "id": "latch_closed", |
| "zh": "合上锁扣", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "module_seated" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "内存条满足插入节点的全部就位几何条件时，插槽活动端原先向外张开的锁扣转回内存条端部，铰链角不超过0.08 rad；总览常被手遮挡，可结合socket或socket_side视角及录像顶部latch角读数，约0.55 rad的外张锁扣尚未闭合，锁扣再外翻超过0.08 rad或内存失去就位均使本节点失去，手尚未离开也可先达到闭扣。最终联合验收还要求先发生脱离泡沫架的合规拾取，再就位、再闭扣（同一控制步可依次通过阶段），随后连续50个50 Hz控制步同时就位、闭扣、手与内存条及锁扣均无接触，内存线速度不超过0.01 m/s、角速度不超过0.2 rad/s；任何一项不成立，计数归零。", |
| "step": { |
| "cat": "机构", |
| "item": "关上" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与其他手指夹住内存条侧面下压，由内存下缘推动锁扣脚越过弹簧中心，使被动锁扣闭合；不要求手直接抓住锁扣。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "压/擦", |
| "plan": 2, |
| "note_zh": "内存条已由插槽导向时，右手指腹压内存条上缘，使内存下缘推动被动锁扣闭合。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:75-77", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:213-217", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/9a1df1cf5f/scene.py:153-171", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:185-198", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:221-234", |
| "inputs/oracle/replay.mp4 @ 25-30 s" |
| ], |
| "conf": 6, |
| "note_zh": "遵循DECISIONS.md D10暂定两步读法：插入改变内存与槽的关系，闭扣改变铰链状态，边来自原生seated→latched顺序，允许同时达到。state的after只说明最终成就顺序，不门控实时状态；闭扣验收使用原生latched含义（就位且铰链角达标），空槽扣合不计，不能用锁存stage>=3代替。联合释放、静止及50步窗口由success验收；机构可在手接触时闭合，禁用持物冻结。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "off_target_contact", |
| "zh": "内存碰错对象", |
| "never": null, |
| "criterion_zh": "内存条任一有效接触的另一方不是该手、抗静电泡沫架或目标socket_3及其子部件，例如碰到台面、托盘、主板、元件、其他三个插槽或地面；每2 ms物理子步检查，第一次触犯立即失败，之后分离也不能恢复。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:43-65", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:107-137", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:140-144", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:127-142" |
| ] |
| }, |
| { |
| "id": "module_dropped", |
| "zh": "内存掉落", |
| "never": null, |
| "criterion_zh": "内存条完全无接触支承时，其质心竖直速度小于-0.2 m/s，或从最近一次完全失去接触后的最高物体原点高度自由下落超过0.05 m；任一成立立即失败，没有掉落后接回的宽限期。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:145-157", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:218", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:231", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:127-142" |
| ] |
| }, |
| { |
| "id": "module_below_surface", |
| "zh": "内存越过底面", |
| "never": null, |
| "criterion_zh": "按检查器检查的四个角点（局部长度坐标为正负0.066675 m，高度为0或0.03125 m）任一点世界z<0.825 m，或插槽局部原点满足abs(y)<0.01 m且abs(x)<0.08 m时，任一下端距插槽基面<0.0012 m；均立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:158-164", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:14", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:214", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:127-142" |
| ] |
| }, |
| { |
| "id": "module_left_workspace", |
| "zh": "内存离开工作区", |
| "never": null, |
| "criterion_zh": "内存条原点任一坐标落到闭区间工作箱之外：x为[0.30,0.95] m、y为[-0.36,0.34] m、z为[0.826,1.25] m；立即失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:68-69", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:165-166", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:219-230", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:127-142" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理失稳", |
| "never": null, |
| "criterion_zh": "物理引擎出现BADQPOS、BADQVEL或BADQACC警告；相应2 ms子步立即判unstable_physics并停止，视频可能表现为非物理爆飞，但准确判据需引擎警告。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:127-142" |
| ] |
| }, |
| { |
| "id": "non_actuator_object_motion", |
| "zh": "非执行器操纵", |
| "never": null, |
| "criterion_zh": "任务禁止用物体瞬移、抓取焊接、脚本直接移动内存或给内存施加直接外力代替手的执行器目标；只重放执行器目标，所提交的物体位姿或配置不会被读取，违规操纵不构成合规完成，需结合控制记录检查。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/task/privileged/instruction.md:27-32", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/4d69967a71/replay.py:30-35", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:116-128" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "module_seated", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:178-184; log Session.features().seated plus end_depths_m, lateral_m, module_origin_in_socket_m, upright_err_deg and keyed_err_deg each control" |
| }, |
| { |
| "atom": "latch_closed", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:185-186; log latched (seated and latch_rad <= 0.08) plus latch_rad each control; checker.stage >= 3 is not a live substitute" |
| }, |
| { |
| "atom": "ordered_pick_seat_latch", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:191-196,225-230; log picked, holder_contact, fingers_on_module, module_pos and checker.stage" |
| }, |
| { |
| "atom": "joint_released_still_hold", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:197-198,231-234; log seated, latched, released, still, module_speed_m_s, module_ang_speed_rad_s and checker.hold (Session.features().hold_steps)" |
| }, |
| { |
| "atom": "checker_success", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:105-114; log benchmark checker success and failure, not privileged verifier hashes or replay validity" |
| }, |
| { |
| "atom": "off_target_contact", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:107-144; log checker.contacts().off_target or native failure/failure_detail at every physics substep" |
| }, |
| { |
| "atom": "module_dropped", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:145-157; log any-contact support, centre-of-mass vertical speed, fall_ref, module height and native failure at every physics substep" |
| }, |
| { |
| "atom": "module_below_surface", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:158-164; log minimum checked corner z, socket-local origin, minimum end depth and native failure each physics substep" |
| }, |
| { |
| "atom": "module_left_workspace", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:165-166; log module origin position and native failure each physics substep" |
| }, |
| { |
| "atom": "unstable_physics", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/3b2b1b62e2/runtime.py:129-135; log BADQPOS/BADQVEL/BADQACC counters and native failure" |
| }, |
| { |
| "atom": "non_actuator_object_motion", |
| "level": "new_code", |
| "source": "inputs/task/privileged/instruction.md:3; audit actuator-only command trace and simulator changes to object poses, external forces and equality constraints; no such trace supplied" |
| } |
| ], |
| "notes_zh": "无状态日志，when、never及success均不可绑定。成功的准确世界状态定义：checker.stage依次由0经过picked、seated、latched达到3；picked要求无泡沫架接触、内存下缘原点世界z>=0.851 m、拇指及至少另一根手指接触；seated采用插入节点全部几何条件，latched为seated且latch_rad<=0.08。此后seated、latched、released、still同时成立时hold逐控制步递增，否则清零，hold>=50即成功；released指手与内存条及活动锁扣接触数均为0，still指线速度<=0.01 m/s且角速度<=0.2 rad/s；不得有先前永久失败。联合窗口覆盖两个步骤，故只记在success，不另加松手静置节点；控制周期0.02 s，不再叠加hold_s延时。阈值来源：inputs/grader/efe_dexhand-files/privileged/environment/variants/436527ad9b/checker.py:170-234；inputs/grader/efe_dexhand-files/privileged/environment/variants/1739609ddd/task.json:205-231。" |
| }, |
| "native_metrics": [ |
| { |
| "name": "min_end_depths_m", |
| "unit": "m", |
| "threshold": 0.0015, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "max_end_depths_m", |
| "unit": "m", |
| "threshold": 0.0026, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "lateral_m", |
| "unit": "m", |
| "threshold": 0.0005, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "abs_along_slot_offset_m", |
| "unit": "m", |
| "threshold": 0.001, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "upright_err_deg", |
| "unit": "deg", |
| "threshold": 3.0, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "keyed_err_deg", |
| "unit": "deg", |
| "threshold": 3.0, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "latch_rad", |
| "unit": "rad", |
| "threshold": 0.08, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "module_speed_m_s", |
| "unit": "m/s", |
| "threshold": 0.01, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "module_ang_speed_rad_s", |
| "unit": "rad/s", |
| "threshold": 0.2, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空，成功录像也没有逐帧状态日志；按P8全部节点when、约束never和success设null。评分器虽有seated、latched、stage和hold等特征，但不能假定它们已被日志记录；atoms列出需新增的记录项，亚毫米几何及2 ms失败条件无法仅凭总览精确复算。", |
| "按DECISIONS.md D5、D10当前读法采用“插入内存→合上锁扣”两步，取出泡沫架是插入途中的事件，picked阶段要求进入最终success而不另建节点；被动闭扣可能与就位在同一控制步发生，边允许同时到达，不要求额外人工拨扣或一个可见停顿。此两步粒度仍是暂定读法。", |
| "目录摘要说转到键位方向，instruction.md说保持原有键向；按N3采用后者。初始四元数及holder_yaw_rad已使内存和socket_3均沿世界+y键向，无需独立旋转节点；scene.py:51的MODELLING_NOTES仍写+x，与实际配置和任务指令不同，以配置和实际录像为准。", |
| "两模式共用相同checker.py及task.json（逐字比较一致）；privileged评分另要求两次新进程重放均成功且最终哈希相同，standard评分实时服务最终回合。交付、确定性及基础设施有效性不作为世界状态节点或绑定条件，两种模式沿用同一物理DAG。", |
| "文本称检查下部角点，checker.py:159实际检查局部高度0和0.03125 m的四个角点；越过底面约束按实现完整保留。该差别未增加语义步骤。", |
| "联合50控制步窗口同时验收就位与闭扣及释放静止，放在success的文字定义中；节点分别采用实时seated与实时latched，后者按评分器也要求就位。录像约27.5–28 s可见松手带起内存、深度超出就位带而锁扣角仍闭合，此时两项验收均失去，不能把stage=3当作持续完成；两节点由不同语义变化形成，非按条件包含关系机械合并（S8、D10）。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "任务文本、评分器、初态和成功录像支持两步及seated→latched顺序，所有阈值有源码依据且两模式物理判据一致；没有任何状态日志，无法自动核验亚毫米就位、逐子步约束和完整保持窗口，D10的被动闭扣分步仍为暂定。", |
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| "notes_zh": [ |
| "when=null 的节点不在状态日志上检查：['module_seated', 'latch_closed']" |
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