| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/stool_brace_insert", |
| "suite": "dexhand", |
| "base": "dexhand-stool-brace-insert-i00", |
| "title_zh": "木凳横撑插接装配", |
| "summary_zh": "横撑下端插入下框空孔，对侧框架套合全部四根上端木榫，形成八个接口一一插好的完整干装框架，并在无违规的情况下全体离手低速稳定连续 50 个控制步。", |
| "embodiment_zh": "两种模式均为一只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、无移动底盘）；默认 Sharpa Wave 右手，22 个手指执行器，可选 Wuji Hand 2.2，20 个手指执行器，每回合只使用其中一只手，任务与判据相同。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-stool-brace-insert-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "brace_in_lower_frame", |
| "zh": "横撑插入下框", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览中原本平放在桌面前侧的浅色横撑已直立插在下框原来的空孔内，下端榫尖沿孔轴深入 0.012–0.019 m、距孔轴不超过 0.0016 m、轴向夹角不超过 0.105 rad；此前横撑须离开桌面、中心较初态升高至少 0.05 m、最低包围盒角高于桌面至少 0.02 m，视频字幕阶段至少 2/4 可佐证此顺序。横撑只悬在孔上或插接误差超限即未完成或失去，持握时插接合格也算完成；最终成功还需全体零件离手并满足下述联合静置窗口。", |
| "step": { |
| "cat": "关系", |
| "item": "插入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单只灵巧手的拇指与其余手指夹住横撑木杆，控制下端木榫对准并插入下框空孔。", |
| "plan": 1 |
| } |
| ], |
| "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/a474b21f41/scene.py:179-186 横撑平放，另外三根杆已插在下框", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:98-107 插接深度、横向偏差与轴向夹角", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:245-267 提起与下榫插接按原生阶段顺序验收", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:43 孔深 0.016 m；上限另加 0.003 m", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52-56 插接与提离阈值", |
| "inputs/oracle/replay.mp4 @ 9.5 s 阶段 2/4、4/8 接口插好" |
| ], |
| "conf": 6, |
| "note_zh": "本节点只计横撑与下框的插接关系；随后安装对侧框架时该关系仍须成立，故为实时状态。提起、转直、对准、松手均并入过程，不另建节点；持握不冻结判定，既往提离测试由阶段顺序验收。全体零件的最终离手与静置属于跨步骤的 success。" |
| }, |
| { |
| "id": "upper_frame_on_dowels", |
| "zh": "装上对侧框", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "brace_in_lower_frame" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览中原先倒放在桌面后侧的对侧框架已移到四根直立连接杆上方，其四个孔各恰好接入一根上端木榫，横撑及另外三根杆各有一个上端插入该框；每处榫尖深度为 0.012–0.019 m、距孔轴不超过 0.0016 m、轴向夹角不超过 0.105 rad，且该框此前已离桌、中心较初态升高至少 0.05 m、最低包围盒角高于桌面至少 0.02 m，原生顺序为先下榫插好再提框。框架仍悬在榫尖上、仅部分上榫入孔或之后任一上端接口脱离即未完成或失去；全局成功还要求上下两框全部八个接口一一插好、每根连接杆跨接两框，手与全部六件零件均无接触且各件质心线速度不超过 0.02 m/s、角速度不超过 0.2 rad/s，连续 50 个控制步合格（字幕 released hold 50/50，约 1 s 仿真时间）。", |
| "step": { |
| "cat": "关系", |
| "item": "装配" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单只灵巧手的拇指与其余手指握住对侧框架的木横杆，提起框架并将四个孔一起套到四根上端木榫上。", |
| "plan": 1 |
| } |
| ], |
| "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/a474b21f41/scene.py:206-210 对侧框架初态绕 x 轴翻转半圈并放在桌上", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:98-107 插接几何判据", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:251-267 提框与整体装配原生顺序、八端八孔完美匹配且每杆跨接两框", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:268-284 全体离手、速度和连续 50 控制步计数", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:43 孔深", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52-66 插接、提离及静置阈值", |
| "inputs/oracle/replay.mp4 @ 28.0 s 八个接口插好但仍在等待离手静置", |
| "inputs/oracle/replay.mp4 @ 29.5 s PASS，8/8 接口、released hold 50/50" |
| ], |
| "conf": 6, |
| "note_zh": "本节点的实时结果是对侧框架新增的四个上端插接，不重复计数横撑下端；一次下放形成四处接口，故不按孔拆分。该步形成独立框架与木榫的对合装配，标关系·装配；无胶水、螺钉、座板安装或翻回正放步骤。全局 success 另外检查全部八端与八孔一一对应、每杆跨接两框及全体离手静置；几何关系在持框时也可成立，故关闭持物冻结、hold_s 为 0，不把全局窗口提前重复加在两个节点上。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "lower_frame_displaced", |
| "zh": "下框移位倾斜", |
| "never": null, |
| "criterion_zh": "下框相对初态的三维位置偏移超过 0.03 m，或其局部 z 轴线相对世界竖直的无向夹角超过 0.1745 rad（文本约 10°），立即且永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:143-146 无向倾角定义", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:183-186", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:57-58" |
| ] |
| }, |
| { |
| "id": "preseated_rail_knocked", |
| "zh": "预装杆松脱", |
| "never": null, |
| "criterion_zh": "三根预装杆中任一根相对世界竖直的无向倾角超过 0.1745 rad（约 10°），或其原下框孔内榫尖深度小于 0.008 m，立即且永久失败；这是保护初始装配的约束。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:151-162 记住原孔", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:187-194", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:59-60" |
| ] |
| }, |
| { |
| "id": "brace_dropped_after_lift", |
| "zh": "横撑提起后落下", |
| "never": null, |
| "criterion_zh": "原生阶段达到 1 后，横撑再次与桌面接触，或横撑中心高度低于桌面 0.74 m 加 0.09 m（即 0.83 m），立即且永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:195-196", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:219-220", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:15", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:61" |
| ] |
| }, |
| { |
| "id": "brace_tipped_after_seating", |
| "zh": "横撑插好后倾倒", |
| "never": null, |
| "criterion_zh": "原生阶段达到 2 后，横撑局部 z 轴线与世界竖直的无向夹角超过 0.349 rad（文本约 20°），立即且永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:197-198", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:62" |
| ] |
| }, |
| { |
| "id": "upper_frame_dropped_after_lift", |
| "zh": "对侧框掉落倾斜", |
| "never": null, |
| "criterion_zh": "原生阶段达到 3 后，对侧框架再次触桌，或框架偏离倒置携带朝向的角度超过 0.349 rad（约 20°，局部 z 轴相对世界向下方向），立即且永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:199-202", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:221-222", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:62" |
| ] |
| }, |
| { |
| "id": "unsupported_fall", |
| "zh": "零件无支撑下坠", |
| "never": null, |
| "criterion_zh": "任一框架或连接杆完全没有有效接触（既未接触手、支撑面，也未接触任何其他物体）且质心竖直速度小于 -0.2 m/s，立即且永久失败，没有掉落后再接住的补救窗口。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:203-215", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:63" |
| ] |
| }, |
| { |
| "id": "part_on_floor", |
| "zh": "零件触地", |
| "never": null, |
| "criterion_zh": "任一框架或连接杆与地板发生有效接触，立即且永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:216-218" |
| ] |
| }, |
| { |
| "id": "part_below_table", |
| "zh": "零件低于桌面", |
| "never": null, |
| "criterion_zh": "任一框架或连接杆的中心高度低于桌面 z = 0.74 m，立即且永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:179-180", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:15" |
| ] |
| }, |
| { |
| "id": "part_outside_workspace", |
| "zh": "零件越出工作区", |
| "never": null, |
| "criterion_zh": "任一框架或连接杆中心超出闭合工作区 x ∈ [0.23, 1.23] m、y ∈ [-0.73, 1.03] m、z ∈ [0.70, 1.60] m，立即且永久失败；边界值本身允许。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:181-182", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:67-78" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理仿真不稳定", |
| "never": null, |
| "criterion_zh": "任一物理子步出现 BADQPOS、BADQVEL 或 BADQACC 警告，立即且永久失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:23", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:126-137" |
| ] |
| }, |
| { |
| "id": "non_actuator_object_intervention", |
| "zh": "直接干预物体", |
| "never": null, |
| "criterion_zh": "文本只允许机器人执行器目标：禁止物体瞬移、抓取焊接、脚本移动物体或直接施加物体外力；任何此类干预均使轨迹不合法。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/task/privileged/instruction.md:29-35", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8a89601fb3/replay.py:27-39 仅执行数值执行器动作，忽略对象状态及配置声明" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "brace_lower_seated", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:250,296; log live brace_lower_seated plus stage>=2 after ordered brace lift; no state log supplied" |
| }, |
| { |
| "atom": "upper_four_dowels_seated", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:98-107,237,256-264; log seated matrix for upper-frame bores, exactly one end per upper bore and one upper end per rail, plus ordered stage>=3" |
| }, |
| { |
| "atom": "assembled", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:256-264,299; log assembled perfect matching of eight dowel ends and eight bores with every rail spanning both frames" |
| }, |
| { |
| "atom": "released_settled_hold", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:268-284,301-304; log hand_contact_parts, max_linear_speed_m_s, max_angular_speed_rad_s and released_hold_steps>=50" |
| }, |
| { |
| "atom": "failure", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:92-99; log Checker.failure and failure_detail at every physics substep to recover each permanent invariant violation" |
| }, |
| { |
| "atom": "actuator_only", |
| "level": "new_code", |
| "source": "inputs/task/privileged/instruction.md:3,29-35; record actuator inputs and object-state/force/weld intervention audit; images alone cannot establish input legality" |
| } |
| ], |
| "notes_zh": "全局成功：原生阶段依次通过横撑提离、横撑下端插好、对侧框架提离、完整装配；八个榫端与八孔一一匹配且每根连接杆跨接两框；所有六件零件无手接触、线速度至多 0.02 m/s、角速度至多 0.2 rad/s 连续 50 控制步，并且没有永久失败。全局窗口由 Checker.hold 累计；有日志时应比较 released_hold_steps >= 50，不另叠 hold_s。下框原有三根杆最终也须达到 0.012–0.019 m 的插深和横向/角度容差，仅满足保护约束的 0.008 m 下限仍不够成功。此处缺少全部状态日志，不能建立可执行的 success。" |
| }, |
| "native_metrics": [ |
| { |
| "name": "seat_depth_min", |
| "unit": "m", |
| "threshold": 0.012, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:102" |
| ] |
| }, |
| { |
| "name": "seat_depth_max", |
| "unit": "m", |
| "threshold": 0.019, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:43; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:103" |
| ] |
| }, |
| { |
| "name": "seat_lateral", |
| "unit": "m", |
| "threshold": 0.0016, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:53; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:104" |
| ] |
| }, |
| { |
| "name": "seat_axis_angle", |
| "unit": "rad", |
| "threshold": 0.105, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:54; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:105" |
| ] |
| }, |
| { |
| "name": "max_linear_speed_m_s", |
| "unit": "m/s", |
| "threshold": 0.02, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:64; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:279" |
| ] |
| }, |
| { |
| "name": "max_angular_speed_rad_s", |
| "unit": "rad/s", |
| "threshold": 0.2, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:65; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:280" |
| ] |
| }, |
| { |
| "name": "lower_frame_shift_m", |
| "unit": "m", |
| "threshold": 0.03, |
| "direction": "lower_better", |
| "sources": [ |
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| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:61; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:195" |
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| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:62; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:197" |
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| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:56; inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:248,254" |
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| "open_questions_zh": [ |
| "inputs/states/index.json 的 logs 为空，oracle.json 也标明 has_state_log=false：所有 when、never 与 success 均为 null，现有证据不能核验毫米级插接、各子步失败或速度阈值；atoms 中列出的 checker 输出只是待记录来源，并非声称已有日志字段（暂行：DECISIONS.md P8）。", |
| "按文本分为横撑插入下框和装上对侧框两个步骤；四个原生阶段中的两次提离桌面是插接途中的运动与顺序验收，不另建拿起节点。一次装框产生四个上端接口，不按孔拆成四步；下框三根预装杆是保护约束，不是新插入步骤（DECISIONS.md S1、S2、S8、S10）。", |
| "全体六件零件离手和低速连续 50 控制步跨越两个插接步骤，放在全局 success 的自然语言定义，两个节点只检查各自的插接结果，均允许持握成立并设置 freeze_held=false；下框三根既有接口的最终严格插好条件也由全局完整装配验收覆盖，避免重复的目标节点。没有日志，不能把这些条件写成可执行表达式。", |
| "privileged 评分需两次独立动作回放均成功且最终状态哈希一致（inputs/grader/efe_dexhand-files/privileged/tests/grade.py:113-124）；standard 采用可信服务的现场成功记录（inputs/grader/efe_dexhand-files/standard/tests/grade.py:22-29）。两模式 checker.py、runtime.py 内容及任务参数完全一致，DAG 建模共同世界状态，不把交付有效性或哈希一致性编成语义条件。", |
| "成功视频是总览视角，播放字幕为 2.4 倍速，结尾追加约 2 s 静帧；仿真中的 50 控制步不能当作视频上的 1 s。手在最终图像里仍靠近上框，不能把距离近误判成接触，字幕 released hold 50/50 支持已离手；几何细差依靠评分器判据，视频本身不能精确量出（DECISIONS.md N8）。", |
| "文本约 10°/20° 的实际代码阈值分别是 0.1745/0.349 rad；判据采用代码原值，没有调节到该成功视频。任务的 6000 控制步上限属于回合预算，不作为 DAG 约束（DECISIONS.md P21）。" |
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| "conf_reason_zh": "两个语义步骤、初态、阶段次序和全部阈值均有文本与评分器来源，成功视频支持两步及最终离手静置；两模式共用相同物理判据，但没有状态日志，毫米级接口、速度、子步永久失败及可执行条件均无法自检，因此置信度为 6。", |
| "review": { |
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| "rounds": 1, |
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| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "文本两步（横撑插入下框、对侧框套合四根上榫）与原生阶段一致，提起不另建节点，预装杆保护为约束，约束均为立即终止，阈值用代码原值；无状态日志故 when/success 为 null 合理，离手静置窗口写入节点 criterion 与 note，未丢失。无需修改。", |
| "n_issues": 0, |
| "n_major": 0 |
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| "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：['brace_in_lower_frame', 'upper_frame_on_dowels']" |
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