| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robodojo/store_tools_in_toolbox", |
| "suite": "robodojo", |
| "base": "robodojo-store-tools-in-toolbox-i00", |
| "title_zh": "工具收入工具箱", |
| "summary_zh": "锤子、钳子、卷尺和扳手分别以规定朝向完整位于工具箱各自槽位内，且双臂末端同时回到起始位姿容差范围。", |
| "embodiment_zh": "两种模式均为桌边固定安装的双ARX X5六关节机械臂，每臂末端为平行二指夹爪，无移动底盘；工具箱固定，左右臂可按可达性操作工具。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robodojo-store-tools-in-toolbox-i00", |
| "bench": "robodojo", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "hammer_in_slot", |
| "zh": "锤子入槽", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机可见银色羊角锤、深色手柄落在青绿色工具箱的箱内左侧长凹槽，锤头朝远端、手柄朝机器人，保持初始面朝上；其被测中心到对应hammer_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "一只可达机械臂的二指夹爪夹住锤子本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位", |
| "inputs/task/privileged/instruction.md:60-68 槽点距离、姿态及箱体包容验收", |
| "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向", |
| "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口", |
| "inputs/task/privileged/environment/instance.json:401-455 工具初态在箱外", |
| "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查", |
| "inputs/oracle/replay.mp4 @ 40、60 s 槽位及可见完成形态" |
| ], |
| "conf": 6, |
| "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬运不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。" |
| }, |
| { |
| "id": "pliers_in_slot", |
| "zh": "钳子入槽", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机可见黄黑柄钳子落在青绿色工具箱的箱内右侧、卷尺前方的凹槽，钳口朝远端、双柄朝机器人；允许初始面或绕长轴翻转180°后的另一面朝上；其被测中心到对应pliers_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "一只可达机械臂的二指夹爪夹住钳子本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位", |
| "inputs/task/privileged/instruction.md:55-59,65-68 槽点距离、姿态及箱体包容验收", |
| "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向", |
| "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口", |
| "inputs/task/privileged/environment/instance.json:456-510 工具初态在箱外", |
| "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查", |
| "inputs/oracle/replay.mp4 @ 200、220、236.2 s 槽位及可见完成形态" |
| ], |
| "conf": 6, |
| "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬运不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。" |
| }, |
| { |
| "id": "tape_measure_in_slot", |
| "zh": "卷尺入槽", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机可见黄色圆形卷尺落在青绿色工具箱的箱内右后角的凹槽，保持与初态相同的圆面朝上及转向；其被测中心到对应tape_measure_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "一只可达机械臂的二指夹爪夹住卷尺本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位", |
| "inputs/task/privileged/instruction.md:60-68 槽点距离、姿态及箱体包容验收", |
| "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向", |
| "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口", |
| "inputs/task/privileged/environment/instance.json:511-565 工具初态在箱外", |
| "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查", |
| "inputs/oracle/replay.mp4 @ 140、160 s 槽位及可见完成形态" |
| ], |
| "conf": 6, |
| "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬运不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。" |
| }, |
| { |
| "id": "wrench_in_slot", |
| "zh": "扳手入槽", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机可见黑柄活动扳手落在青绿色工具箱的箱内中间长凹槽，扳手钳口朝远端、手柄朝机器人，保持初始面朝上；其被测中心到对应wrench_slot点的三维距离严格小于0.05米、三维姿态角误差在10°以内，且旋转后的包围盒俯视投影完全位于箱体轮廓内，最高点严格低于箱沿，最低点严格高于箱体包围盒底部减0.03米。仍在箱外桌面、悬在箱沿上方、跨墙、离开槽位或超出上述朝向容差均未完成，已达标后出现这些情况则失去本步。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "一只可达机械臂的二指夹爪夹住扳手本体或手柄，保持所需朝向移入对应凹槽；不限定左臂或右臂。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10-12 文字要求四种工具各入匹配槽位", |
| "inputs/task/privileged/instruction.md:60-68 槽点距离、姿态及箱体包容验收", |
| "inputs/task/privileged/instruction.md:39-52 中心定义、槽位几何和初始朝向", |
| "inputs/task/privileged/instruction.md:69-75 双臂归位及同一动作边界联合验收，无保持窗口", |
| "inputs/task/privileged/environment/instance.json:566-620 工具初态在箱外", |
| "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册并执行原生检查", |
| "inputs/oracle/replay.mp4 @ 20、40 s 槽位及可见完成形态" |
| ], |
| "conf": 6, |
| "note_zh": "工具本身是收纳目标，不是用于操作其他目标的辅助工具；抓起和搬运不另列节点。位置、朝向、全体入箱合为本步验收，未要求独立松手、静止或保持时长，允许持物时达标，故关闭持物冻结；四种工具间无必经顺序。" |
| }, |
| { |
| "id": "arms_home", |
| "zh": "双臂回初位", |
| "mode": "final", |
| "when": null, |
| "after": [ |
| "hammer_in_slot", |
| "pliers_in_slot", |
| "tape_measure_in_slot", |
| "wrench_in_slot" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "四件工具均已按各自入槽判据达标后，头部相机可见两只机械臂末端退回桌面两侧的起始区域；以开局位姿为参照，每臂末端在x、y、z各轴的位置偏差均在0.15米以内、三维姿态误差在20°以内，夹爪不必张开，四件工具须在同一动作边界仍同时达标。任一臂未回到上述容差范围即未完成；开局归位或工具尚未全部达标时经过初位不计本步，已达成后任一臂再次超出容差则失去本步。", |
| "step": { |
| "cat": "其他", |
| "item": "机械臂归位" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "左右机械臂各自将末端移回起始区域，此步无需夹爪与工具或工具箱建立目标接触。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/standard/instruction.md:11-13 明确要求工具入槽后机械臂复位", |
| "inputs/task/privileged/instruction.md:10-12,69-75 双臂末端归位容差及同一动作边界联合验收", |
| "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:364-371,412-425 注册原生检查并在动作边界报告成功", |
| "inputs/oracle/replay.mp4 @ 0、236、236.25 s 起始区域参照、四件工具在槽内及末端回撤形态", |
| "inputs/oracle/run.json:reward.success=1,reward.replay_success=1,reward.instance_exact=1；steps[id=181].out.text 原生重放报告success=true、end_reason=success", |
| "docs/01_task_dag.md:214-218；docs/DECISIONS.md:S4(b) 归位若独立保留则为工作步骤之后的final节点" |
| ], |
| "conf": 6, |
| "note_zh": "依S4(b)采用允许的独立归位步骤，final由四个入槽步骤门控，从0计入，避免开局和途中经过初位被计为归位；未要求额外保持窗口。现有taxonomy没有机械臂回初位类型；本体·保持要求停留一段时间，位姿·调整位姿用于被操作的自由物体，均不准确，故依DECISIONS.md D16(d)暂用其他，候选名为机械臂归位。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "dyn.hammer_in_slot", |
| "level": "new_code", |
| "source": "需增加逐帧日志字段 dyn.hammer_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,hammer) 的合取。依据 inputs/task/privileged/instruction.md:55-68。" |
| }, |
| { |
| "atom": "dyn.pliers_in_slot", |
| "level": "new_code", |
| "source": "需增加逐帧日志字段 dyn.pliers_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,pliers) 的合取；钳子匹配采用center或center_flip的析取。依据 inputs/task/privileged/instruction.md:55-68。" |
| }, |
| { |
| "atom": "dyn.tape_measure_in_slot", |
| "level": "new_code", |
| "source": "需增加逐帧日志字段 dyn.tape_measure_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,tape_measure) 的合取。依据 inputs/task/privileged/instruction.md:55-68。" |
| }, |
| { |
| "atom": "dyn.wrench_in_slot", |
| "level": "new_code", |
| "source": "需增加逐帧日志字段 dyn.wrench_in_slot：记录原生 is_align_qpos 槽点位姿匹配与 is_A_cover_B(toolbox,wrench) 的合取。依据 inputs/task/privileged/instruction.md:55-68。" |
| }, |
| { |
| "atom": "dyn.arms_home", |
| "level": "new_code", |
| "source": "需记录逐帧字段 dyn.arms_home，即原生 all_robot_back_to_origin 的结果；双臂各轴位置误差0.15米以内、姿态误差20°以内，依据 inputs/task/privileged/instruction.md:69-70。" |
| }, |
| { |
| "atom": "flags.success", |
| "level": "new_code", |
| "source": "需记录每个动作边界的原生成功状态 flags.success，即 Session.success()；依据 inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-413。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "hammer_slot_center_distance", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "hammer_slot_orientation_error", |
| "unit": "deg", |
| "threshold": 10, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "pliers_slot_center_distance", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "pliers_slot_orientation_error", |
| "unit": "deg", |
| "threshold": 10, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "tape_measure_slot_center_distance", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "tape_measure_slot_orientation_error", |
| "unit": "deg", |
| "threshold": 10, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "wrench_slot_center_distance", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "wrench_slot_orientation_error", |
| "unit": "deg", |
| "threshold": 10, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "left_ee_origin_x_absolute_error", |
| "unit": "m", |
| "threshold": 0.15, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "left_ee_origin_y_absolute_error", |
| "unit": "m", |
| "threshold": 0.15, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "left_ee_origin_z_absolute_error", |
| "unit": "m", |
| "threshold": 0.15, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "left_ee_origin_orientation_error", |
| "unit": "deg", |
| "threshold": 20, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "right_ee_origin_x_absolute_error", |
| "unit": "m", |
| "threshold": 0.15, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "right_ee_origin_y_absolute_error", |
| "unit": "m", |
| "threshold": 0.15, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "right_ee_origin_z_absolute_error", |
| "unit": "m", |
| "threshold": 0.15, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "right_ee_origin_orientation_error", |
| "unit": "deg", |
| "threshold": 20, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json 的logs为空，没有逐帧状态日志；依P8五个节点的when及联合success均为null，不能用状态日志核对5厘米、10°和归位容差，视频判断应同时参考原生成功结果。atoms列出未来需增加的日志字段，不是现有字段。", |
| "输入未包含RoboDojo原生任务模块、任务配置及完整reward_manager源码；评分器只委托这些原生检查。槽点距离严格小于0.05米、姿态10°以内、箱体包容和双臂归位阈值均引用两种模式instruction的Success段；oracle/run.json步骤17的源码片段佐证包容检查为俯视contains、B_z_max < A_z_max、B_z_min > A_z_min - 0.03，完整匹配与归位函数的边界比较仍无法独立核实。", |
| "模式差异：两种模式实例文件完全相同、文字验收条件相同；privileged按独立新进程重放的原生成功结果评分（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:152-178），standard按现场单回合结果评分并要求记录完整且无基础设施错误（inputs/grader/efe_robodojo-files/standard/tests/grade.py:3-7,39-42）。这些交付和基础设施条件不作为世界状态节点或约束；当前仅有privileged成功视频，不能独立核对standard执行过程。", |
| "机械臂归位的步骤类型仍是词汇缺口（DECISIONS.md D16(d)、CASES.md OPEN-24）；依当前处理使用其他并给出候选名机械臂归位及理由，不新增taxonomy正式类别。归位节点按已决定的S4(b)保留为四个入槽步骤之后的final。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "四个工具入槽步骤和最后归位直接来自两种模式一致的文字，初态、成功视频和原生重放成功结果支持，验收阈值有指令出处；归位依S4(b)设为四个入槽步骤之后的final。但没有状态日志、完整原生任务检查器缺失，视频只能显示大致归位区域，细小姿态与边界仍需依文字及原生成功结果确认，归位类型暂用其他，因此整体与节点置信度为6。", |
| "review": { |
| "status": "agreed", |
| "rounds": 2, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "fix", |
| "conf": 6, |
| "summary_zh": "四个工具入槽节点基本正确，但文字明确要求的最后一步“让机械臂回到起始位姿”在 DAG 中完全缺失：success 为 null，也没有 final 节点，归位只被写进四个工具节点的 criterion 文字里，导致归位这一步无法被标注或统计，并污染四个节点的判定标准。另有 atoms 文字复制粘贴错误。", |
| "n_issues": 3, |
| "n_major": 1 |
| }, |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 2, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "四个入槽节点加归位 final 节点与文字和评分器一致；阈值、翻转钳子的析取、盒内包容、归位 final 与 freeze_held=false 均正确；无状态日志故 when 为 null 合理，开放问题已列出。", |
| "n_issues": 0, |
| "n_major": 0 |
| } |
| ], |
| "open_zh": [] |
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| "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：['hammer_in_slot', 'pliers_in_slot', 'tape_measure_in_slot', 'wrench_in_slot', 'arms_home']" |
| ] |
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| "engine": "codex", |
| "model": "gpt-6.1-sol", |
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| "created": "2026-10-29T09:18:47Z", |
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