| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/usb_plug_insert", |
| "suite": "dexhand", |
| "base": "dexhand-usb-plug-insert-i00", |
| "title_zh": "将USB插头插入集线器", |
| "summary_zh": "右手先将侧躺的USB-A插头夹持抬离桌面，再以正确极性插入集线器最右第4口，松手后满足就位与低速条件连续50个控制步，且全程不触发失败约束。", |
| "embodiment_zh": "两种模式均为固定式天机Marvin机器人，双7关节机械臂、每腕一只灵巧手；仅右臂和右手执行，左臂停放、左手张开，基座固定。末端可为Sharpa Wave灵巧手（默认，22指关节执行器）或Wuji Hand 2.2灵巧手（20执行器），每回合仅用一种手型，任务和判据相同。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-usb-plug-insert-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "plug_lifted", |
| "zh": "拿起插头", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览中右手夹住黑色插头并使其离开桌面：拇指和至少另一根手指接触插头刚性部分，插头除右手外不接触任何物体，金属壳尖端原点达到 z≥0.73 m（桌面上方30 mm）；仍侧躺桌面、只碰电缆或仅单指接触均未完成，视频叠字阶段由0变为1可佐证。", |
| "step": { |
| "cat": "位姿", |
| "item": "拿起" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与至少另一根手指夹住USB-A插头的金属壳、塑料外壳或应力释放段；不限定必须食指。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:101-119", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:266", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/e893d23529/scene.py:180-200", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:55-64", |
| "inputs/oracle/replay.mp4 @ 0.0、5.5、6.0 s" |
| ], |
| "conf": 7, |
| "note_zh": "文本明确要求并独立验收的抬起状态，允许握持暂停，按受评拿起例外保留；stage=1为历史必经成果，故用event且标goal。此后不要求一直高于0.73 m；朝上旋转属于下一步插入的极性验收。" |
| }, |
| { |
| "id": "plug_seated_port4", |
| "zh": "插入第四口", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "plug_lifted" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "近景中黑色USB-A插头进入黑色四口集线器最右侧第4口（局部x=+33 mm），极性面朝上且手已离开插头、电缆和集线器；必须同时满足尖端深度≥10.8 mm、横向偏差绝对值≤0.6 mm、竖向偏差绝对值≤0.5 mm、轴夹角≤5°、顶面夹角≤20°、插头质心线速度≤0.01 m/s，连续50个控制步（标称1 s）。插错口、露出过多金属壳、仍接触手或抖动均未完成，已达成后脱出或接触恢复则失去；本视频末尾叠字Stage 3/3、released hold 50/50和PASS佐证验收，亚毫米误差被遮挡时不能单凭轮廓确认。", |
| "step": { |
| "cat": "关系", |
| "item": "插入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "右手拇指与另一手指握住USB-A插头壳体，将插头送入第4口；之后松开并移开，松手为验收而非同时接触。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 2, |
| "note_zh": "右手先按前一步夹持抬起插头并导入端口，再用右手指尖抵住插头外壳后端推到位，最后离开插头及电缆；抓持和推入依次发生。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:79-99", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:172-198", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:201-228", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:265-279", |
| "inputs/grader/efe_dexhand-files/privileged/environment/assets/usb_scene.json:81-92", |
| "inputs/oracle/replay.mp4 @ 24.0、26.0、27.0 s" |
| ], |
| "conf": 6, |
| "note_zh": "对准、翻正、插入、松手和静置合为插入结果的验收，不照抄三个原生阶段建三个节点；四口编号从1开始，代码target_port=3从0开始。hold_s=0：验收明确采用检查器released_hold_controls≥50，不另叠加时间窗；目前无日志，when保持null。设置freeze_held=false，避免重新接触插头时冻结已达成的验收状态；state不以after门控，顺序由原生阶段保证。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "robot_collision", |
| "zh": "非工作手碰撞", |
| "never": null, |
| "criterion_zh": "任一机械臂连杆、支架、躯干或停放的左手与任何物体发生有效物理接触即失败，包括桌面、地面、任务物体、工作右手及其他机器人部件；只有工作右手可以接触桌面和任务物体。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:122-141", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-116", |
| "inputs/task/privileged/instruction.md:12-14" |
| ] |
| }, |
| { |
| "id": "plug_below_counter_top", |
| "zh": "插头低于桌面", |
| "never": null, |
| "criterion_zh": "插头金属壳尖端原点的世界z<0.685 m（桌面0.70 m减15 mm）即失败，不是按外壳最低点判断。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:142-143", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:278" |
| ] |
| }, |
| { |
| "id": "hub_below_counter_top", |
| "zh": "集线器低于桌面", |
| "never": null, |
| "criterion_zh": "集线器刚体原点的世界z<0.70 m即失败；这是评分器额外的独立失效检查。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:144-145", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:14" |
| ] |
| }, |
| { |
| "id": "object_left_workspace", |
| "zh": "物体离开工作区", |
| "never": null, |
| "criterion_zh": "插头尖端原点或集线器刚体原点任一坐标超出x∈[0.25,1.15] m、y∈[-0.40,0.95] m、z∈[0.685,1.10] m即失败，边界值允许。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:146-148", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:253-264" |
| ] |
| }, |
| { |
| "id": "hub_displaced", |
| "zh": "集线器移位", |
| "never": null, |
| "criterion_zh": "集线器原点相对重置时位置的三维位移>0.020 m即失败；视频可见黑色集线器被拖离起始桌边位置，但精确位移需状态数据。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:74", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:275" |
| ] |
| }, |
| { |
| "id": "hub_tipped", |
| "zh": "集线器倾斜", |
| "never": null, |
| "criterion_zh": "集线器局部顶面法线与世界竖直方向夹角>20°即失败，按世界竖直而非相对初始姿态计算。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:276" |
| ] |
| }, |
| { |
| "id": "cable_end_off_counter", |
| "zh": "线缆远端下落", |
| "never": null, |
| "criterion_zh": "远端USB-B插头刚体原点世界z<0.65 m（桌面下方超过50 mm）即失败；需区分线缆中段下垂和远端插头下落。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:153-154", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:277" |
| ] |
| }, |
| { |
| "id": "plug_dropped", |
| "zh": "插头掉落", |
| "never": null, |
| "criterion_zh": "已经完成抬起阶段后，在某控制步插头和电缆均无手接触，且插头不与任一端口形成尖端深度≥3 mm、横向和竖向偏差绝对值均≤4 mm的接合，同时插头质心竖直速度<-0.2 m/s或刚性插头接触桌面/地面，即立即失败；没有防抖或补救窗口。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:172-184", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:272", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:279" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理失稳", |
| "never": null, |
| "criterion_zh": "任一物理子步出现MuJoCo BADQPOS、BADQVEL、BADQACC警告，或关节位置出现非有限数，即以unstable_physics失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-110" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "plug_lift_completed", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171,230；需逐控制步记录Checker.features().lift_step或stage及刚性插头手指接触、其他接触和尖端高度；本任务未提供状态日志。" |
| }, |
| { |
| "atom": "plug_seated_released_port4", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:185-198,209-228；需记录seated_port、target_depth_m、target_lateral_m、target_vertical_m、axis_error_deg、polarity_cos、plug_touch、cable_hand_contacts、hub_hand_contacts、plug_speed_m_s、released_hold_controls；以第4口就位且释放计数≥50验收。" |
| }, |
| { |
| "atom": "checker_success", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:232；需记录基准检查器逐帧success（不是外部交付判决）。" |
| }, |
| { |
| "atom": "checker_failure", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:233-234；需逐控制步及终止子步记录failure和failure_detail，覆盖全部约束；失稳来自inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:104-109。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "plug_tip_z_at_lift", |
| "unit": "m", |
| "threshold": 0.73, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:14", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:266" |
| ] |
| }, |
| { |
| "name": "target_depth_fraction", |
| "unit": "", |
| "threshold": 0.9, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:93", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:267", |
| "inputs/grader/efe_dexhand-files/privileged/environment/assets/usb_scene.json:92" |
| ] |
| }, |
| { |
| "name": "abs_target_lateral_m", |
| "unit": "m", |
| "threshold": 0.0006, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:94", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:268" |
| ] |
| }, |
| { |
| "name": "abs_target_vertical_m", |
| "unit": "m", |
| "threshold": 0.0005, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:95", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:269" |
| ] |
| }, |
| { |
| "name": "axis_error_deg", |
| "unit": "deg", |
| "threshold": 5, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:84", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:270" |
| ] |
| }, |
| { |
| "name": "polarity_error_deg", |
| "unit": "deg", |
| "threshold": 20, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:85-97", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:271" |
| ] |
| }, |
| { |
| "name": "plug_speed_m_s", |
| "unit": "m/s", |
| "threshold": 0.01, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:193", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:226", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:273" |
| ] |
| }, |
| { |
| "name": "released_hold_controls", |
| "unit": "control", |
| "threshold": 50, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:195-198", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:274" |
| ] |
| }, |
| { |
| "name": "hub_displacement_m", |
| "unit": "m", |
| "threshold": 0.02, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:275" |
| ] |
| }, |
| { |
| "name": "hub_tilt_deg", |
| "unit": "deg", |
| "threshold": 20, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:276" |
| ] |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空，成功参考轨迹也无状态日志；依暂行DECISIONS.md P8，所有节点when、约束never和success均为null。拟新增日志字段写入atoms，不能假定Session.features()输出已经被逐帧记录；视频无法可靠分辨亚毫米位置误差或速度阈值。", |
| "评分器要求，文本未提：集线器刚体原点z<0.70 m也立即失败（checker.py:144-145），独立于工作区下界0.685 m；已保留hub_below_counter_top约束（暂行DECISIONS.md N1）。", |
| "两模式世界状态判据一致（standard的checker.py、runtime.py与privileged对应文件逐字相同），交付判定方式不同：privileged/tests/grade.py:85-124要求两次新进程回放成功且最终状态哈希相同，standard/tests/grade.py:22-29采信可信服务的最终实时回合。交付有效性与确定性不构造成世界状态步骤或原子条件。", |
| "暂行DECISIONS.md N2：本任务仅有这一条目录成功轨迹，因无其他成功可用而采用同时待标注的a7xp8ho作为参考；只借用其几何与可见线索，不将特定捏持姿态、腕部补偿或控制脚本顺序设为必经。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "两个步骤均来自文本，抬起阈值、端口几何、极性、释放计数及失败条件均有检查器和配置依据；初态与阶段先后经代码和成功视频核实。没有状态日志，无法执行数值重放一致性检验，近景也不足以独立量测亚毫米容差，因此整体置信度为6。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "文本步骤为“拿起插头、旋转并插入第4口、松手”，DAG用拿起与插入第4口两个节点，旋转与松手已折入插入的判据；约束覆盖评分器全部失败条件，无状态日志故when/never/success为null符合P8。未发现需修改的内容。", |
| "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：['plug_lifted', 'plug_seated_port4']" |
| ] |
| }, |
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| "created": "2026-10-29T10:31:04Z", |
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