Hugging Face's logo

Datasets:
MLL-Lab
/
efe-failure-analysis

License:
Dataset card Files
xet
 Community
efe-failure-analysis / phase2 /dextoolbench /screwdriver_long_screwdriver_spin_vertical /task_dag.json
JamesK2W's picture
JamesK2W
Add 38 tasks (phase 2)
c167fa0 verified
Raw History Blame Contribute Delete
265 kB
{
"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "dextoolbench/screwdriver_long_screwdriver_spin_vertical",
"suite": "dextoolbench",
"base": "dextoolbench_screwdriver_long_screwdriver_spin_vertical",
"title_zh": "长螺丝刀竖轴旋转",
"summary_zh": "长螺丝刀按顺序通过全部100个示范目标位姿，每个目标均满足抓取框8角点最大对应距离小于1.5厘米的验收条件。",
"embodiment_zh": "两模式均为固定基座的KUKA iiwa 14单机械臂（7关节），末端安装左侧Sharpa HA4灵巧手（22关节）；没有移动底盘，控制共29个关节目标。特权模式离线提交并回放关节轨迹，标准模式通过机器人服务控制同一具身。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "dextoolbench_screwdriver_long_screwdriver_spin_vertical",
"bench": "dextoolbench",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "goal_pose_001_reached",
"zh": "达成位姿1",
"mode": "event",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前0个目标已按序通过后，灰色长螺丝刀到达第1个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第1个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:17-25 goals[0], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第1个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_002_reached",
"zh": "达成位姿2",
"mode": "event",
"when": null,
"after": [
"goal_pose_001_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前1个目标已按序通过后，灰色长螺丝刀到达第2个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第2个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:26-34 goals[1], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第2个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_003_reached",
"zh": "达成位姿3",
"mode": "event",
"when": null,
"after": [
"goal_pose_002_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前2个目标已按序通过后，灰色长螺丝刀到达第3个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第3个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:35-43 goals[2], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第3个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_004_reached",
"zh": "达成位姿4",
"mode": "event",
"when": null,
"after": [
"goal_pose_003_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前3个目标已按序通过后，灰色长螺丝刀到达第4个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第4个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:44-52 goals[3], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第4个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_005_reached",
"zh": "达成位姿5",
"mode": "event",
"when": null,
"after": [
"goal_pose_004_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前4个目标已按序通过后，灰色长螺丝刀到达第5个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第5个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:53-61 goals[4], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第5个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_006_reached",
"zh": "达成位姿6",
"mode": "event",
"when": null,
"after": [
"goal_pose_005_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前5个目标已按序通过后，灰色长螺丝刀到达第6个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第6个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:62-70 goals[5], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第6个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_007_reached",
"zh": "达成位姿7",
"mode": "event",
"when": null,
"after": [
"goal_pose_006_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前6个目标已按序通过后，灰色长螺丝刀到达第7个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第7个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:71-79 goals[6], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第7个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_008_reached",
"zh": "达成位姿8",
"mode": "event",
"when": null,
"after": [
"goal_pose_007_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前7个目标已按序通过后，灰色长螺丝刀到达第8个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第8个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:80-88 goals[7], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第8个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_009_reached",
"zh": "达成位姿9",
"mode": "event",
"when": null,
"after": [
"goal_pose_008_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前8个目标已按序通过后，灰色长螺丝刀到达第9个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第9个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:89-97 goals[8], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第9个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_010_reached",
"zh": "达成位姿10",
"mode": "event",
"when": null,
"after": [
"goal_pose_009_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前9个目标已按序通过后，灰色长螺丝刀到达第10个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第10个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:98-106 goals[9], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第10个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_011_reached",
"zh": "达成位姿11",
"mode": "event",
"when": null,
"after": [
"goal_pose_010_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前10个目标已按序通过后，灰色长螺丝刀到达第11个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第11个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:107-115 goals[10], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第11个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_012_reached",
"zh": "达成位姿12",
"mode": "event",
"when": null,
"after": [
"goal_pose_011_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前11个目标已按序通过后，灰色长螺丝刀到达第12个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第12个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:116-124 goals[11], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第12个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_013_reached",
"zh": "达成位姿13",
"mode": "event",
"when": null,
"after": [
"goal_pose_012_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前12个目标已按序通过后，灰色长螺丝刀到达第13个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第13个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:125-133 goals[12], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第13个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_014_reached",
"zh": "达成位姿14",
"mode": "event",
"when": null,
"after": [
"goal_pose_013_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前13个目标已按序通过后，灰色长螺丝刀到达第14个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第14个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:134-142 goals[13], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第14个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_015_reached",
"zh": "达成位姿15",
"mode": "event",
"when": null,
"after": [
"goal_pose_014_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前14个目标已按序通过后，灰色长螺丝刀到达第15个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第15个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:143-151 goals[14], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第15个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_016_reached",
"zh": "达成位姿16",
"mode": "event",
"when": null,
"after": [
"goal_pose_015_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前15个目标已按序通过后，灰色长螺丝刀到达第16个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第16个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:152-160 goals[15], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第16个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_017_reached",
"zh": "达成位姿17",
"mode": "event",
"when": null,
"after": [
"goal_pose_016_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前16个目标已按序通过后，灰色长螺丝刀到达第17个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第17个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:161-169 goals[16], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第17个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_018_reached",
"zh": "达成位姿18",
"mode": "event",
"when": null,
"after": [
"goal_pose_017_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前17个目标已按序通过后，灰色长螺丝刀到达第18个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第18个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:170-178 goals[17], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第18个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_019_reached",
"zh": "达成位姿19",
"mode": "event",
"when": null,
"after": [
"goal_pose_018_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前18个目标已按序通过后，灰色长螺丝刀到达第19个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第19个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:179-187 goals[18], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第19个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_020_reached",
"zh": "达成位姿20",
"mode": "event",
"when": null,
"after": [
"goal_pose_019_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前19个目标已按序通过后，灰色长螺丝刀到达第20个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第20个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:188-196 goals[19], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第20个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_021_reached",
"zh": "达成位姿21",
"mode": "event",
"when": null,
"after": [
"goal_pose_020_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前20个目标已按序通过后，灰色长螺丝刀到达第21个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第21个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:197-205 goals[20], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第21个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_022_reached",
"zh": "达成位姿22",
"mode": "event",
"when": null,
"after": [
"goal_pose_021_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前21个目标已按序通过后，灰色长螺丝刀到达第22个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第22个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:206-214 goals[21], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第22个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_023_reached",
"zh": "达成位姿23",
"mode": "event",
"when": null,
"after": [
"goal_pose_022_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前22个目标已按序通过后，灰色长螺丝刀到达第23个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第23个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:215-223 goals[22], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第23个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_024_reached",
"zh": "达成位姿24",
"mode": "event",
"when": null,
"after": [
"goal_pose_023_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前23个目标已按序通过后，灰色长螺丝刀到达第24个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第24个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:224-232 goals[23], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第24个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_025_reached",
"zh": "达成位姿25",
"mode": "event",
"when": null,
"after": [
"goal_pose_024_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前24个目标已按序通过后，灰色长螺丝刀到达第25个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第25个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:233-241 goals[24], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第25个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_026_reached",
"zh": "达成位姿26",
"mode": "event",
"when": null,
"after": [
"goal_pose_025_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前25个目标已按序通过后，灰色长螺丝刀到达第26个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第26个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:242-250 goals[25], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第26个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_027_reached",
"zh": "达成位姿27",
"mode": "event",
"when": null,
"after": [
"goal_pose_026_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前26个目标已按序通过后，灰色长螺丝刀到达第27个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第27个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:251-259 goals[26], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第27个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_028_reached",
"zh": "达成位姿28",
"mode": "event",
"when": null,
"after": [
"goal_pose_027_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前27个目标已按序通过后，灰色长螺丝刀到达第28个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第28个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:260-268 goals[27], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第28个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_029_reached",
"zh": "达成位姿29",
"mode": "event",
"when": null,
"after": [
"goal_pose_028_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前28个目标已按序通过后，灰色长螺丝刀到达第29个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第29个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:269-277 goals[28], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第29个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_030_reached",
"zh": "达成位姿30",
"mode": "event",
"when": null,
"after": [
"goal_pose_029_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前29个目标已按序通过后，灰色长螺丝刀到达第30个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第30个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:278-286 goals[29], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第30个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_031_reached",
"zh": "达成位姿31",
"mode": "event",
"when": null,
"after": [
"goal_pose_030_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前30个目标已按序通过后，灰色长螺丝刀到达第31个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第31个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:287-295 goals[30], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第31个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_032_reached",
"zh": "达成位姿32",
"mode": "event",
"when": null,
"after": [
"goal_pose_031_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前31个目标已按序通过后，灰色长螺丝刀到达第32个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第32个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:296-304 goals[31], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第32个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_033_reached",
"zh": "达成位姿33",
"mode": "event",
"when": null,
"after": [
"goal_pose_032_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前32个目标已按序通过后，灰色长螺丝刀到达第33个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第33个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:305-313 goals[32], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第33个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_034_reached",
"zh": "达成位姿34",
"mode": "event",
"when": null,
"after": [
"goal_pose_033_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前33个目标已按序通过后，灰色长螺丝刀到达第34个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第34个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:314-322 goals[33], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第34个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_035_reached",
"zh": "达成位姿35",
"mode": "event",
"when": null,
"after": [
"goal_pose_034_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前34个目标已按序通过后，灰色长螺丝刀到达第35个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第35个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:323-331 goals[34], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第35个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_036_reached",
"zh": "达成位姿36",
"mode": "event",
"when": null,
"after": [
"goal_pose_035_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前35个目标已按序通过后，灰色长螺丝刀到达第36个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第36个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:332-340 goals[35], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第36个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_037_reached",
"zh": "达成位姿37",
"mode": "event",
"when": null,
"after": [
"goal_pose_036_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前36个目标已按序通过后，灰色长螺丝刀到达第37个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第37个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:341-349 goals[36], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第37个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_038_reached",
"zh": "达成位姿38",
"mode": "event",
"when": null,
"after": [
"goal_pose_037_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前37个目标已按序通过后，灰色长螺丝刀到达第38个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第38个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:350-358 goals[37], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第38个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_039_reached",
"zh": "达成位姿39",
"mode": "event",
"when": null,
"after": [
"goal_pose_038_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前38个目标已按序通过后，灰色长螺丝刀到达第39个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第39个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:359-367 goals[38], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第39个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_040_reached",
"zh": "达成位姿40",
"mode": "event",
"when": null,
"after": [
"goal_pose_039_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前39个目标已按序通过后，灰色长螺丝刀到达第40个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第40个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:368-376 goals[39], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第40个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_041_reached",
"zh": "达成位姿41",
"mode": "event",
"when": null,
"after": [
"goal_pose_040_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前40个目标已按序通过后，灰色长螺丝刀到达第41个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第41个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:377-385 goals[40], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第41个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_042_reached",
"zh": "达成位姿42",
"mode": "event",
"when": null,
"after": [
"goal_pose_041_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前41个目标已按序通过后，灰色长螺丝刀到达第42个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第42个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:386-394 goals[41], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第42个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_043_reached",
"zh": "达成位姿43",
"mode": "event",
"when": null,
"after": [
"goal_pose_042_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前42个目标已按序通过后，灰色长螺丝刀到达第43个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第43个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:395-403 goals[42], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第43个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_044_reached",
"zh": "达成位姿44",
"mode": "event",
"when": null,
"after": [
"goal_pose_043_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前43个目标已按序通过后，灰色长螺丝刀到达第44个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第44个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:404-412 goals[43], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第44个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_045_reached",
"zh": "达成位姿45",
"mode": "event",
"when": null,
"after": [
"goal_pose_044_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前44个目标已按序通过后，灰色长螺丝刀到达第45个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第45个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:413-421 goals[44], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第45个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_046_reached",
"zh": "达成位姿46",
"mode": "event",
"when": null,
"after": [
"goal_pose_045_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前45个目标已按序通过后，灰色长螺丝刀到达第46个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第46个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:422-430 goals[45], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第46个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_047_reached",
"zh": "达成位姿47",
"mode": "event",
"when": null,
"after": [
"goal_pose_046_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前46个目标已按序通过后，灰色长螺丝刀到达第47个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第47个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:431-439 goals[46], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第47个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_048_reached",
"zh": "达成位姿48",
"mode": "event",
"when": null,
"after": [
"goal_pose_047_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前47个目标已按序通过后，灰色长螺丝刀到达第48个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第48个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:440-448 goals[47], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第48个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_049_reached",
"zh": "达成位姿49",
"mode": "event",
"when": null,
"after": [
"goal_pose_048_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前48个目标已按序通过后，灰色长螺丝刀到达第49个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第49个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:449-457 goals[48], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第49个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_050_reached",
"zh": "达成位姿50",
"mode": "event",
"when": null,
"after": [
"goal_pose_049_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前49个目标已按序通过后，灰色长螺丝刀到达第50个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第50个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:458-466 goals[49], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第50个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_051_reached",
"zh": "达成位姿51",
"mode": "event",
"when": null,
"after": [
"goal_pose_050_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前50个目标已按序通过后，灰色长螺丝刀到达第51个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第51个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:467-475 goals[50], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第51个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_052_reached",
"zh": "达成位姿52",
"mode": "event",
"when": null,
"after": [
"goal_pose_051_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前51个目标已按序通过后，灰色长螺丝刀到达第52个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第52个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:476-484 goals[51], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第52个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_053_reached",
"zh": "达成位姿53",
"mode": "event",
"when": null,
"after": [
"goal_pose_052_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前52个目标已按序通过后，灰色长螺丝刀到达第53个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第53个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:485-493 goals[52], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第53个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_054_reached",
"zh": "达成位姿54",
"mode": "event",
"when": null,
"after": [
"goal_pose_053_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前53个目标已按序通过后，灰色长螺丝刀到达第54个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第54个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:494-502 goals[53], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第54个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_055_reached",
"zh": "达成位姿55",
"mode": "event",
"when": null,
"after": [
"goal_pose_054_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前54个目标已按序通过后，灰色长螺丝刀到达第55个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第55个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:503-511 goals[54], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第55个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_056_reached",
"zh": "达成位姿56",
"mode": "event",
"when": null,
"after": [
"goal_pose_055_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前55个目标已按序通过后，灰色长螺丝刀到达第56个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第56个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:512-520 goals[55], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第56个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_057_reached",
"zh": "达成位姿57",
"mode": "event",
"when": null,
"after": [
"goal_pose_056_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前56个目标已按序通过后，灰色长螺丝刀到达第57个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第57个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:521-529 goals[56], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第57个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_058_reached",
"zh": "达成位姿58",
"mode": "event",
"when": null,
"after": [
"goal_pose_057_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前57个目标已按序通过后，灰色长螺丝刀到达第58个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第58个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:530-538 goals[57], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第58个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_059_reached",
"zh": "达成位姿59",
"mode": "event",
"when": null,
"after": [
"goal_pose_058_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前58个目标已按序通过后，灰色长螺丝刀到达第59个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第59个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:539-547 goals[58], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第59个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_060_reached",
"zh": "达成位姿60",
"mode": "event",
"when": null,
"after": [
"goal_pose_059_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前59个目标已按序通过后，灰色长螺丝刀到达第60个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第60个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:548-556 goals[59], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第60个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_061_reached",
"zh": "达成位姿61",
"mode": "event",
"when": null,
"after": [
"goal_pose_060_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前60个目标已按序通过后，灰色长螺丝刀到达第61个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第61个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:557-565 goals[60], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第61个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_062_reached",
"zh": "达成位姿62",
"mode": "event",
"when": null,
"after": [
"goal_pose_061_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前61个目标已按序通过后，灰色长螺丝刀到达第62个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第62个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:566-574 goals[61], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第62个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_063_reached",
"zh": "达成位姿63",
"mode": "event",
"when": null,
"after": [
"goal_pose_062_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前62个目标已按序通过后，灰色长螺丝刀到达第63个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第63个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:575-583 goals[62], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第63个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_064_reached",
"zh": "达成位姿64",
"mode": "event",
"when": null,
"after": [
"goal_pose_063_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前63个目标已按序通过后，灰色长螺丝刀到达第64个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第64个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:584-592 goals[63], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第64个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_065_reached",
"zh": "达成位姿65",
"mode": "event",
"when": null,
"after": [
"goal_pose_064_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前64个目标已按序通过后，灰色长螺丝刀到达第65个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第65个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:593-601 goals[64], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第65个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_066_reached",
"zh": "达成位姿66",
"mode": "event",
"when": null,
"after": [
"goal_pose_065_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前65个目标已按序通过后，灰色长螺丝刀到达第66个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第66个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:602-610 goals[65], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第66个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_067_reached",
"zh": "达成位姿67",
"mode": "event",
"when": null,
"after": [
"goal_pose_066_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前66个目标已按序通过后，灰色长螺丝刀到达第67个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第67个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:611-619 goals[66], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第67个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_068_reached",
"zh": "达成位姿68",
"mode": "event",
"when": null,
"after": [
"goal_pose_067_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前67个目标已按序通过后，灰色长螺丝刀到达第68个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第68个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:620-628 goals[67], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第68个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_069_reached",
"zh": "达成位姿69",
"mode": "event",
"when": null,
"after": [
"goal_pose_068_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前68个目标已按序通过后，灰色长螺丝刀到达第69个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第69个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:629-637 goals[68], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第69个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_070_reached",
"zh": "达成位姿70",
"mode": "event",
"when": null,
"after": [
"goal_pose_069_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前69个目标已按序通过后，灰色长螺丝刀到达第70个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第70个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:638-646 goals[69], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第70个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_071_reached",
"zh": "达成位姿71",
"mode": "event",
"when": null,
"after": [
"goal_pose_070_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前70个目标已按序通过后，灰色长螺丝刀到达第71个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第71个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:647-655 goals[70], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第71个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_072_reached",
"zh": "达成位姿72",
"mode": "event",
"when": null,
"after": [
"goal_pose_071_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前71个目标已按序通过后，灰色长螺丝刀到达第72个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第72个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:656-664 goals[71], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第72个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_073_reached",
"zh": "达成位姿73",
"mode": "event",
"when": null,
"after": [
"goal_pose_072_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前72个目标已按序通过后，灰色长螺丝刀到达第73个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第73个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:665-673 goals[72], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第73个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_074_reached",
"zh": "达成位姿74",
"mode": "event",
"when": null,
"after": [
"goal_pose_073_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前73个目标已按序通过后，灰色长螺丝刀到达第74个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第74个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:674-682 goals[73], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第74个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_075_reached",
"zh": "达成位姿75",
"mode": "event",
"when": null,
"after": [
"goal_pose_074_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前74个目标已按序通过后，灰色长螺丝刀到达第75个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第75个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:683-691 goals[74], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第75个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_076_reached",
"zh": "达成位姿76",
"mode": "event",
"when": null,
"after": [
"goal_pose_075_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前75个目标已按序通过后，灰色长螺丝刀到达第76个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第76个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:692-700 goals[75], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第76个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_077_reached",
"zh": "达成位姿77",
"mode": "event",
"when": null,
"after": [
"goal_pose_076_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前76个目标已按序通过后，灰色长螺丝刀到达第77个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第77个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:701-709 goals[76], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第77个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_078_reached",
"zh": "达成位姿78",
"mode": "event",
"when": null,
"after": [
"goal_pose_077_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前77个目标已按序通过后，灰色长螺丝刀到达第78个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第78个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:710-718 goals[77], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第78个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_079_reached",
"zh": "达成位姿79",
"mode": "event",
"when": null,
"after": [
"goal_pose_078_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前78个目标已按序通过后，灰色长螺丝刀到达第79个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第79个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:719-727 goals[78], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第79个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_080_reached",
"zh": "达成位姿80",
"mode": "event",
"when": null,
"after": [
"goal_pose_079_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前79个目标已按序通过后，灰色长螺丝刀到达第80个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第80个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:728-736 goals[79], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第80个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_081_reached",
"zh": "达成位姿81",
"mode": "event",
"when": null,
"after": [
"goal_pose_080_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前80个目标已按序通过后，灰色长螺丝刀到达第81个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第81个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:737-745 goals[80], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第81个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_082_reached",
"zh": "达成位姿82",
"mode": "event",
"when": null,
"after": [
"goal_pose_081_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前81个目标已按序通过后，灰色长螺丝刀到达第82个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第82个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:746-754 goals[81], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第82个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_083_reached",
"zh": "达成位姿83",
"mode": "event",
"when": null,
"after": [
"goal_pose_082_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前82个目标已按序通过后，灰色长螺丝刀到达第83个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第83个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:755-763 goals[82], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第83个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_084_reached",
"zh": "达成位姿84",
"mode": "event",
"when": null,
"after": [
"goal_pose_083_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前83个目标已按序通过后，灰色长螺丝刀到达第84个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第84个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:764-772 goals[83], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第84个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_085_reached",
"zh": "达成位姿85",
"mode": "event",
"when": null,
"after": [
"goal_pose_084_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前84个目标已按序通过后，灰色长螺丝刀到达第85个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第85个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:773-781 goals[84], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第85个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_086_reached",
"zh": "达成位姿86",
"mode": "event",
"when": null,
"after": [
"goal_pose_085_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前85个目标已按序通过后，灰色长螺丝刀到达第86个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第86个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:782-790 goals[85], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第86个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_087_reached",
"zh": "达成位姿87",
"mode": "event",
"when": null,
"after": [
"goal_pose_086_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前86个目标已按序通过后，灰色长螺丝刀到达第87个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第87个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:791-799 goals[86], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第87个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_088_reached",
"zh": "达成位姿88",
"mode": "event",
"when": null,
"after": [
"goal_pose_087_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前87个目标已按序通过后，灰色长螺丝刀到达第88个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第88个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:800-808 goals[87], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第88个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_089_reached",
"zh": "达成位姿89",
"mode": "event",
"when": null,
"after": [
"goal_pose_088_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前88个目标已按序通过后，灰色长螺丝刀到达第89个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第89个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:809-817 goals[88], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第89个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_090_reached",
"zh": "达成位姿90",
"mode": "event",
"when": null,
"after": [
"goal_pose_089_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前89个目标已按序通过后，灰色长螺丝刀到达第90个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第90个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:818-826 goals[89], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第90个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_091_reached",
"zh": "达成位姿91",
"mode": "event",
"when": null,
"after": [
"goal_pose_090_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前90个目标已按序通过后，灰色长螺丝刀到达第91个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第91个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:827-835 goals[90], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第91个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_092_reached",
"zh": "达成位姿92",
"mode": "event",
"when": null,
"after": [
"goal_pose_091_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前91个目标已按序通过后，灰色长螺丝刀到达第92个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第92个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:836-844 goals[91], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第92个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_093_reached",
"zh": "达成位姿93",
"mode": "event",
"when": null,
"after": [
"goal_pose_092_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前92个目标已按序通过后，灰色长螺丝刀到达第93个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第93个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:845-853 goals[92], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第93个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_094_reached",
"zh": "达成位姿94",
"mode": "event",
"when": null,
"after": [
"goal_pose_093_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前93个目标已按序通过后，灰色长螺丝刀到达第94个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第94个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:854-862 goals[93], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第94个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_095_reached",
"zh": "达成位姿95",
"mode": "event",
"when": null,
"after": [
"goal_pose_094_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前94个目标已按序通过后，灰色长螺丝刀到达第95个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第95个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:863-871 goals[94], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第95个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_096_reached",
"zh": "达成位姿96",
"mode": "event",
"when": null,
"after": [
"goal_pose_095_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前95个目标已按序通过后，灰色长螺丝刀到达第96个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第96个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:872-880 goals[95], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第96个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_097_reached",
"zh": "达成位姿97",
"mode": "event",
"when": null,
"after": [
"goal_pose_096_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前96个目标已按序通过后，灰色长螺丝刀到达第97个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第97个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:881-889 goals[96], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第97个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_098_reached",
"zh": "达成位姿98",
"mode": "event",
"when": null,
"after": [
"goal_pose_097_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前97个目标已按序通过后，灰色长螺丝刀到达第98个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第98个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:890-898 goals[97], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第98个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_099_reached",
"zh": "达成位姿99",
"mode": "event",
"when": null,
"after": [
"goal_pose_098_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前98个目标已按序通过后，灰色长螺丝刀到达第99个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，绿色虚影随后切换到下一目标。仅手掌对齐、工具仍明显偏离或第99个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:899-907 goals[98], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第99个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
},
{
"id": "goal_pose_100_reached",
"zh": "达成位姿100",
"mode": "event",
"when": null,
"after": [
"goal_pose_099_reached"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "前99个目标已按序通过后，灰色长螺丝刀到达第100个绿色虚影：正面和侧面看高度与倾角、俯视看长轴方位，实体与虚影近乎重合，工具局部抓取框（0.141×0.03025×0.0271米，整体放大1.5倍）的8个角点与该目标对应角点的最大三维距离严格小于0.015米，一个控制步检查通过即可，全部目标计数达到100且任务结束，绿色虚影可停在最后目标。仅手掌对齐、工具仍明显偏离或第100个目标尚未按序通过均未完成；通过后不要求留在该位姿，后续离开不撤销此步。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左侧Sharpa HA4灵巧手以拇指和其余手指抓握长螺丝刀柄，机械臂带动工具对齐示范位姿。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-6",
"inputs/task/standard/instruction.md:3-6",
"inputs/task/privileged/environment/instance.json:908-916 goals[99], pose order x y z qx qy qz qw",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:49-51 grasp-box geometry and tolerance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:119-123 max corner distance",
"inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:223-240 ordered tracker and latched reached counter",
"inputs/task/standard/environment/sim/Dockerfile:7-10 shared tracker",
"inputs/oracle/replay.mp4:0.0-13.267 four-view alignment cues"
],
"conf": 6,
"note_zh": "第100个顺序检查点为文本明确计数的世界事件，按S5、D11保留独立节点；抓握是典型接触方案而非评分器限制，先拿起、途中换握和手腕回转不另建节点。当前没有状态日志，不能把代码中的计数器当作已记录字段绑定；建议补记累计通过目标数以识别密集通过的目标。"
}
],
"constraints": [],
"success": null,
"atoms": [
{
"atom": "goal_pose_001_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 1; no such state log supplied"
},
{
"atom": "goal_pose_002_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 2; no such state log supplied"
},
{
"atom": "goal_pose_003_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 3; no such state log supplied"
},
{
"atom": "goal_pose_004_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 4; no such state log supplied"
},
{
"atom": "goal_pose_005_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 5; no such state log supplied"
},
{
"atom": "goal_pose_006_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 6; no such state log supplied"
},
{
"atom": "goal_pose_007_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 7; no such state log supplied"
},
{
"atom": "goal_pose_008_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 8; no such state log supplied"
},
{
"atom": "goal_pose_009_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 9; no such state log supplied"
},
{
"atom": "goal_pose_010_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 10; no such state log supplied"
},
{
"atom": "goal_pose_011_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 11; no such state log supplied"
},
{
"atom": "goal_pose_012_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 12; no such state log supplied"
},
{
"atom": "goal_pose_013_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 13; no such state log supplied"
},
{
"atom": "goal_pose_014_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 14; no such state log supplied"
},
{
"atom": "goal_pose_015_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 15; no such state log supplied"
},
{
"atom": "goal_pose_016_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 16; no such state log supplied"
},
{
"atom": "goal_pose_017_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 17; no such state log supplied"
},
{
"atom": "goal_pose_018_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 18; no such state log supplied"
},
{
"atom": "goal_pose_019_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 19; no such state log supplied"
},
{
"atom": "goal_pose_020_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 20; no such state log supplied"
},
{
"atom": "goal_pose_021_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 21; no such state log supplied"
},
{
"atom": "goal_pose_022_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 22; no such state log supplied"
},
{
"atom": "goal_pose_023_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 23; no such state log supplied"
},
{
"atom": "goal_pose_024_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 24; no such state log supplied"
},
{
"atom": "goal_pose_025_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 25; no such state log supplied"
},
{
"atom": "goal_pose_026_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 26; no such state log supplied"
},
{
"atom": "goal_pose_027_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 27; no such state log supplied"
},
{
"atom": "goal_pose_028_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 28; no such state log supplied"
},
{
"atom": "goal_pose_029_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 29; no such state log supplied"
},
{
"atom": "goal_pose_030_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 30; no such state log supplied"
},
{
"atom": "goal_pose_031_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 31; no such state log supplied"
},
{
"atom": "goal_pose_032_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 32; no such state log supplied"
},
{
"atom": "goal_pose_033_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 33; no such state log supplied"
},
{
"atom": "goal_pose_034_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 34; no such state log supplied"
},
{
"atom": "goal_pose_035_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 35; no such state log supplied"
},
{
"atom": "goal_pose_036_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 36; no such state log supplied"
},
{
"atom": "goal_pose_037_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 37; no such state log supplied"
},
{
"atom": "goal_pose_038_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 38; no such state log supplied"
},
{
"atom": "goal_pose_039_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 39; no such state log supplied"
},
{
"atom": "goal_pose_040_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 40; no such state log supplied"
},
{
"atom": "goal_pose_041_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 41; no such state log supplied"
},
{
"atom": "goal_pose_042_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 42; no such state log supplied"
},
{
"atom": "goal_pose_043_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 43; no such state log supplied"
},
{
"atom": "goal_pose_044_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 44; no such state log supplied"
},
{
"atom": "goal_pose_045_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 45; no such state log supplied"
},
{
"atom": "goal_pose_046_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 46; no such state log supplied"
},
{
"atom": "goal_pose_047_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 47; no such state log supplied"
},
{
"atom": "goal_pose_048_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 48; no such state log supplied"
},
{
"atom": "goal_pose_049_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 49; no such state log supplied"
},
{
"atom": "goal_pose_050_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 50; no such state log supplied"
},
{
"atom": "goal_pose_051_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 51; no such state log supplied"
},
{
"atom": "goal_pose_052_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 52; no such state log supplied"
},
{
"atom": "goal_pose_053_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 53; no such state log supplied"
},
{
"atom": "goal_pose_054_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 54; no such state log supplied"
},
{
"atom": "goal_pose_055_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 55; no such state log supplied"
},
{
"atom": "goal_pose_056_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 56; no such state log supplied"
},
{
"atom": "goal_pose_057_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 57; no such state log supplied"
},
{
"atom": "goal_pose_058_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 58; no such state log supplied"
},
{
"atom": "goal_pose_059_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 59; no such state log supplied"
},
{
"atom": "goal_pose_060_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 60; no such state log supplied"
},
{
"atom": "goal_pose_061_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 61; no such state log supplied"
},
{
"atom": "goal_pose_062_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 62; no such state log supplied"
},
{
"atom": "goal_pose_063_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 63; no such state log supplied"
},
{
"atom": "goal_pose_064_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 64; no such state log supplied"
},
{
"atom": "goal_pose_065_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 65; no such state log supplied"
},
{
"atom": "goal_pose_066_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 66; no such state log supplied"
},
{
"atom": "goal_pose_067_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 67; no such state log supplied"
},
{
"atom": "goal_pose_068_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 68; no such state log supplied"
},
{
"atom": "goal_pose_069_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 69; no such state log supplied"
},
{
"atom": "goal_pose_070_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 70; no such state log supplied"
},
{
"atom": "goal_pose_071_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 71; no such state log supplied"
},
{
"atom": "goal_pose_072_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 72; no such state log supplied"
},
{
"atom": "goal_pose_073_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 73; no such state log supplied"
},
{
"atom": "goal_pose_074_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 74; no such state log supplied"
},
{
"atom": "goal_pose_075_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 75; no such state log supplied"
},
{
"atom": "goal_pose_076_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 76; no such state log supplied"
},
{
"atom": "goal_pose_077_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 77; no such state log supplied"
},
{
"atom": "goal_pose_078_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 78; no such state log supplied"
},
{
"atom": "goal_pose_079_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 79; no such state log supplied"
},
{
"atom": "goal_pose_080_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 80; no such state log supplied"
},
{
"atom": "goal_pose_081_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 81; no such state log supplied"
},
{
"atom": "goal_pose_082_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 82; no such state log supplied"
},
{
"atom": "goal_pose_083_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 83; no such state log supplied"
},
{
"atom": "goal_pose_084_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 84; no such state log supplied"
},
{
"atom": "goal_pose_085_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 85; no such state log supplied"
},
{
"atom": "goal_pose_086_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 86; no such state log supplied"
},
{
"atom": "goal_pose_087_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 87; no such state log supplied"
},
{
"atom": "goal_pose_088_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 88; no such state log supplied"
},
{
"atom": "goal_pose_089_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 89; no such state log supplied"
},
{
"atom": "goal_pose_090_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 90; no such state log supplied"
},
{
"atom": "goal_pose_091_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 91; no such state log supplied"
},
{
"atom": "goal_pose_092_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 92; no such state log supplied"
},
{
"atom": "goal_pose_093_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 93; no such state log supplied"
},
{
"atom": "goal_pose_094_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 94; no such state log supplied"
},
{
"atom": "goal_pose_095_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 95; no such state log supplied"
},
{
"atom": "goal_pose_096_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 96; no such state log supplied"
},
{
"atom": "goal_pose_097_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 97; no such state log supplied"
},
{
"atom": "goal_pose_098_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 98; no such state log supplied"
},
{
"atom": "goal_pose_099_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 99; no such state log supplied"
},
{
"atom": "goal_pose_100_reached",
"level": "new_code",
"source": "inputs/grader/efe_dextoolbench-files/privileged/environment/rcb_dtb.py:237-240; log Session.progress()[\"reached\"] each control step; node threshold >= 100; no such state log supplied"
}
]
},
"native_metrics": [
{
"name": "goal_distance_m",
"unit": "m",
"threshold": 0.015,
"direction": "lower_better"
},
{
"name": "goals_reached",
"unit": "goal",
"threshold": 100,
"direction": "higher_better"
},
{
"name": "progress",
"unit": "ratio",
"threshold": 1,
"direction": "higher_better"
}
],
"open_questions_zh": [
"inputs/states/index.json的logs为空（P8）：100个节点的when及全局success均为null，不能进行状态日志的到达率或成功一致性验证；atoms列出应新增记录的原生累计目标计数器，而非声称已有可绑定字段。",
"按S5与D11当前口径，文本明确要求按序通过100个位姿，故每个位姿各建一event目标节点，task_class在文本阶段定为compositional；不把整条轨迹合为一步，也不因相邻目标可能同时落入容差内而合并。S10的可暂停检验在这些自由工具位姿之间成立，评分器未要求连续角速度。",
"D2/Y17边界：螺丝刀本身是位姿受评对象，不是操作另一对象的辅助工具；评分器仅查工具位姿、无独立持握或抬起判据，因此“拿起”并入到达首目标的过程，不另加工具拾取节点，也不把典型抓握强制为唯一合法策略。",
"两模式共享位姿几何和顺序计数判据，但特权模式每目标1800控制步（30秒）后仍未通过即结束，标准模式取消单目标时限；两者均有360000控制步上限。依P21，这些时间或步数上限不列为约束；特权模式的通过检查优先于同一步的超时检查，见rcb_dtb.py:224-230。",
"特权评分器还要求两次回放state_sha和reached完全一致、轨迹为有限数值的(T,29)且不超长度；标准模式按最后一段实时episode的done评分，另有服务有效终结及错误检查（privileged/tests/grade.py:43-54；standard/tests/grade.py:29-40；sim/server_mj.py:598-610）。这些属于交付或执行有效性，不能虚构为世界状态节点；success为null时在此保留完整评分差异。",
"N8视觉证据局限：四宫格依次为正面、侧面、俯视、斜视；灰色实体与亮绿色虚影的高度、长轴及倾角可用于辨认对齐，虚影切换表示当前目标推进，但视频没有逐目标计数叠字，遮挡和抽帧也可能漏掉短暂目标，不能仅凭静态近似重合判定精确1.5厘米或目标序号。各节点需结合有依据的累计目标计数；没有该证据时应保留未知。",
"唯一成功oracle同时是后续待标注运行（N2，oracle.json:is_labelled_run=true），并无状态日志；run.json的评分结果为100/100、deterministic=1，录像用于理解场景和验收外观，不能据此声称已独立验证100个到达时刻。",
"指令将抓取框尺寸近似写为0.141×0.030×0.027米，评分代码精确值为0.141×0.03025×0.0271米再乘1.5；判据采用代码精确值，距离须严格小于0.015米，无保持、松手、静止或最终放回桌面的附加条件。"
],
"conf": 6,
"conf_reason_zh": "100个顺序目标、几何阈值和事件锁存均有文本及共享评分代码支持，三份场景实例完全一致，成功录像展示了持握对齐过程；但缺少状态日志且视频不足以逐个辨认密集目标，所有绑定均待补记，因此置信度为6。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "文本明确要求按序达到100个目标位姿，文件按DECISIONS S5/D11 Now口径建100个顺序event节点，链式after为评分器的顺序跟踪，阈值1.5cm、抓取框0.141×0.03025×0.0271×1.5与rcb_dtb.py一致；无状态日志故when/success为null并已在open_questions_zh说明，标签（位姿·沿轨迹移动、手指/夹爪×抓握）符合CASES。未发现需修改项。",
"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：['goal_pose_001_reached', 'goal_pose_002_reached', 'goal_pose_003_reached', 'goal_pose_004_reached', 'goal_pose_005_reached', 'goal_pose_006_reached', 'goal_pose_007_reached', 'goal_pose_008_reached', 'goal_pose_009_reached', 'goal_pose_010_reached', 'goal_pose_011_reached', 'goal_pose_012_reached', 'goal_pose_013_reached', 'goal_pose_014_reached', 'goal_pose_015_reached', 'goal_pose_016_reached', 'goal_pose_017_reached', 'goal_pose_018_reached', 'goal_pose_019_reached', 'goal_pose_020_reached', 'goal_pose_021_reached', 'goal_pose_022_reached', 'goal_pose_023_reached', 'goal_pose_024_reached', 'goal_pose_025_reached', 'goal_pose_026_reached', 'goal_pose_027_reached', 'goal_pose_028_reached', 'goal_pose_029_reached', 'goal_pose_030_reached', 'goal_pose_031_reached', 'goal_pose_032_reached', 'goal_pose_033_reached', 'goal_pose_034_reached', 'goal_pose_035_reached', 'goal_pose_036_reached', 'goal_pose_037_reached', 'goal_pose_038_reached', 'goal_pose_039_reached', 'goal_pose_040_reached', 'goal_pose_041_reached', 'goal_pose_042_reached', 'goal_pose_043_reached', 'goal_pose_044_reached', 'goal_pose_045_reached', 'goal_pose_046_reached', 'goal_pose_047_reached', 'goal_pose_048_reached', 'goal_pose_049_reached', 'goal_pose_050_reached', 'goal_pose_051_reached', 'goal_pose_052_reached', 'goal_pose_053_reached', 'goal_pose_054_reached', 'goal_pose_055_reached', 'goal_pose_056_reached', 'goal_pose_057_reached', 'goal_pose_058_reached', 'goal_pose_059_reached', 'goal_pose_060_reached', 'goal_pose_061_reached', 'goal_pose_062_reached', 'goal_pose_063_reached', 'goal_pose_064_reached', 'goal_pose_065_reached', 'goal_pose_066_reached', 'goal_pose_067_reached', 'goal_pose_068_reached', 'goal_pose_069_reached', 'goal_pose_070_reached', 'goal_pose_071_reached', 'goal_pose_072_reached', 'goal_pose_073_reached', 'goal_pose_074_reached', 'goal_pose_075_reached', 'goal_pose_076_reached', 'goal_pose_077_reached', 'goal_pose_078_reached', 'goal_pose_079_reached', 'goal_pose_080_reached', 'goal_pose_081_reached', 'goal_pose_082_reached', 'goal_pose_083_reached', 'goal_pose_084_reached', 'goal_pose_085_reached', 'goal_pose_086_reached', 'goal_pose_087_reached', 'goal_pose_088_reached', 'goal_pose_089_reached', 'goal_pose_090_reached', 'goal_pose_091_reached', 'goal_pose_092_reached', 'goal_pose_093_reached', 'goal_pose_094_reached', 'goal_pose_095_reached', 'goal_pose_096_reached', 'goal_pose_097_reached', 'goal_pose_098_reached', 'goal_pose_099_reached', 'goal_pose_100_reached']"
]
},
"provenance": {
"prompt": "prompts/01_task_dag.md",
"prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T11:12:23Z",
"review_prompt": "prompts/02_task_dag_review.md",
"review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
"reconcile_prompt": "prompts/05_reconcile.md",
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
"calls": [
{
"stage": "dag",
"round": 0,
"ok": true,
"space": "work/tasks/dextoolbench__screwdriver_long_screwdriver_spin_vertical/01_dag"
},
{
"stage": "dag_review",
"round": 1,
"ok": true,
"space": "work/tasks/dextoolbench__screwdriver_long_screwdriver_spin_vertical/02_review_r1"
}
],
"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "e49a64d03e676af871635df749b6deb5e725f2a06b782a9f24075d1116520ceb",
"repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
}
}