{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/envelope_letter_insert",
 "suite": "dexhand",
 "base": "dexhand-envelope-letter-insert-i00",
 "title_zh": "将折叠信件插入信封",
 "summary_zh": "已三折的信件经封口进入信封袋内、外露不超过 4.95 mm，右手与两物体脱离接触且两物体静止连续 50 个控制步，全程未触发立即判负条件。",
 "embodiment_zh": "两模式均为固定在桌边的天机 Marvin 双臂机器人，每臂七关节；仅右臂及其灵巧手执行任务，左臂与左手停放，底座固定。右手可为 Sharpa Wave（22 个手指执行器，默认）或 Wuji Hand 2.2（20 个）；每次只使用一种手，任务几何和判据一致，控制频率 50 Hz。",
 "task_class": "atomic",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-envelope-letter-insert-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "letter_in_envelope",
    "zh": "信件插入信封",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": true,
    "criterion_zh": "总览中原先分离的两张浅色矩形变成信件进入信封袋内的重叠布局，近景可见信件只在封口外留一条窄边，右手已离开：须先经封口进入（前两角越过 x=55 mm 的口线至少 10 mm，|y|≤107.6 mm、高度 1.2–4.4 mm，后两角仍在口外），再使最外角外露≤4.95 mm、四角均满足 |y|≤107.6 mm、x≥-51.6 mm、高度 1.2–4.4 mm，最后信件和信封均无手部接触且两者线速度各≤0.01 m/s、角速度各≤0.2 rad/s，连续 50 个控制步（原生计数 released_hold_steps≥50）。信件仅压在信封表面、仍大段露在口外、角部越出侧缝或手仍在推时都未完成；已达标后退出袋口、重新接触或运动超限会失去该状态，录像末段 stage 3/3、outside 约 4.9 mm、hand contacts L0/E0、released hold 50/50 可辅助确认。",
    "step": {
     "cat": "关系",
     "item": "插入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "推/扫",
      "plan": 1,
      "note_zh": "右手指腹在信件表面施加摩擦带动其在桌面滑动，随后以右手指尖推信件后缘入信封口；前后接触顺序见节点说明。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task.json:10",
     "inputs/task/privileged/instruction.md:3",
     "inputs/task/standard/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:36-49",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:95-117",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:139-159",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:167-174",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:248-254",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:131-151",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:10",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-72",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/eca9b98723/scene.py:111-175",
     "inputs/oracle/replay.mp4 @ 0-13.28 s"
    ],
    "conf": 6,
    "note_zh": "文本只要求一次插入：到达封口和继续推进为中间过程，松手静置为验收，不建抓取、搬运、抬起、撤手或单独松手节点。信封翻盖已经打开；闭合的弹性口唇并不封死 4 mm 内腔，信件可直接送入，故无独立开口唇前置。初始信件与信封分离，此目标不在起点成立。原生阶段 1、2 锁存但插入几何与最终保持须实时成立；hold_s=0 表示不叠加时间窗，完整 50 步要求由视觉判据和待记录的原生保持计数承载。默认持物冻结适用于本节点要求松手静置的验收；接触标注采用可行的典型推送方案，不要求固定手指或固定滑动路线；README 的 Difficulty 段指出信件薄且初始贴桌，故不臆设可直接抓起的替代方案。"
   }
  ],
  "constraints": [
   {
    "id": "objects_below_desk",
    "zh": "物体低于桌面",
    "never": null,
    "criterion_zh": "信件或信封的物体原点高度低于 0.698 m，即桌面 0.700 m 减去 0.002 m 容差；每个 2 ms 物理子步检查，触发后立即终止。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:177-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:12-15",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:66"
    ]
   },
   {
    "id": "objects_dropped",
    "zh": "物体掉落",
    "never": null,
    "criterion_zh": "信件或信封与地板发生有效接触，或与任何物体均无有效接触且其质心竖直速度小于 -0.1 m/s；无缓冲窗口，每个物理子步立即判负。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:192-201",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:210-222",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:70"
    ]
   },
   {
    "id": "objects_outside_workspace",
    "zh": "物体离开工作区",
    "never": null,
    "criterion_zh": "信件或信封的原点 x 不在 [0.18, 0.78] m、y 不在 [-0.40, 0.40] m，或 z 大于 1.00 m，即离开允许的桌面工作区。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:65-67",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:184-187",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:15-24",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:67"
    ]
   },
   {
    "id": "letter_through_envelope",
    "zh": "信件穿透信封",
    "never": null,
    "criterion_zh": "信件与信封的有效碰撞接触穿透深度大于 0.7 mm，或信件中面采样点进入信封后壁、前壁、侧缝、底缝或口唇实体内部；中面按边缘内缩 1 mm 的 7×15 个点检测。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:52-64",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:202-205",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:212-214",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:225-245",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:71-72"
    ]
   },
   {
    "id": "envelope_displaced",
    "zh": "信封移位过大",
    "never": null,
    "criterion_zh": "信封原点相对于初始桌面坐标 (0.48, 0.16) m 的水平位移范数大于 0.05 m。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:51",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:188-189",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:25-29",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:68"
    ]
   },
   {
    "id": "envelope_tipped",
    "zh": "信封倾斜过大",
    "never": null,
    "criterion_zh": "信封局部向上轴与世界竖直轴夹角大于 0.35 rad。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:190-191",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b3c3eacf51/task.json:69"
    ]
   },
   {
    "id": "forbidden_robot_contact",
    "zh": "非右手接触物体",
    "never": null,
    "criterion_zh": "机器人支架、任一手臂或停放的左手与信件或信封发生有效接触；只有安装于右腕的活动手可接触两物体。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:68-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:206-209",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:53-65",
     "inputs/task/privileged/instruction.md:3"
    ]
   },
   {
    "id": "unstable_physics",
    "zh": "物理状态失稳",
    "never": null,
    "criterion_zh": "出现 BADQPOS、BADQVEL、BADQACC 警告，或任一广义坐标为非有限数；运行在该物理子步立即终止。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-125"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "letter_entry_history",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:165-166 features.stage_completed / features.stage_steps; log the native mouth-entry stage and its control index"
   },
   {
    "atom": "letter_inserted_geometry",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/2bb13ebb1b/checker.py:95-132 geometry.inserted, corners_envelope_frame, outside_m; log these world-state features"
   },
   {
    "atom": "released_rest_hold",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:139-167 features.released_hold_steps, hand_letter_contacts, hand_envelope_contacts and both objects speed features; log the native consecutive-control counter"
   },
   {
    "atom": "failure_invariants",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:108-125 and :169-170 features.failure / features.failure_detail; log native fail-fast invariant checks for all constraints"
   },
   {
    "atom": "episode_success",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/5661886e48/runtime.py:168 features.success; log this native per-frame world-state success flag, not the delivery verifier verdict"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "outside_m",
   "unit": "m",
   "threshold": 0.00495,
   "direction": "lower_better"
  },
  {
   "name": "letter_linear_speed_m_s",
   "unit": "m/s",
   "threshold": 0.01,
   "direction": "lower_better"
  },
  {
   "name": "envelope_linear_speed_m_s",
   "unit": "m/s",
   "threshold": 0.01,
   "direction": "lower_better"
  },
  {
   "name": "letter_angular_speed_rad_s",
   "unit": "rad/s",
   "threshold": 0.2,
   "direction": "lower_better"
  },
  {
   "name": "envelope_angular_speed_rad_s",
   "unit": "rad/s",
   "threshold": 0.2,
   "direction": "lower_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json 的 logs 为空；按 DECISIONS.md P8，唯一节点 when、全部约束 never 与 success 均为 null，不能把评分器中存在的字段当作已记录字段。所需原生阶段、几何、接触、速度、保持计数和失效原因列为 new_code；当前只能按录像与精确判据判断，无法做状态回放一致性验证。",
  "模式差异：物理场景、checker.py、runtime.py、scene.py 与 task.json 在两模式中逐字一致；privileged 由两次新进程回放成功且末态哈希相同判通过（inputs/grader/efe_dexhand-files/privileged/tests/grade.py:107-124），standard 按最后一次实时回合判定（inputs/grader/efe_dexhand-files/standard/tests/grade.py:22-39）。交付有效性与重放确定性不作为世界状态步骤；此 DAG 建模共同物理成功条件。",
  "录像时间经过加速，原生 50 个控制步不能按播放器 1 秒估计；成功录像末段为静止近景，显示原生保持 50/50。微米级穿透与毫米级四角高度不能由总览可靠量测，需原生特征辅助，不能从表面重叠直接判为入袋。"
 ],
 "conf": 6,
 "conf_reason_zh": "一个插入步骤直接来自两模式文本；阶段、四角边界、放手与静止要求、原生 50 步计数及所有立即失效阈值均可定位到共同评分实现，成功录像展示推入和最终通过。缺少状态日志，细小间隙及失效条件只能保留明确视觉判据和待记录字段，无法检验自动绑定。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "文本只描述一次“把信件送到封口并送入、然后松手”，单节点插入（松手静置并入 when/criterion）符合 S1/S8；目标条件、阈值、立即终止约束均与评分器和说明一致；无状态日志故 when/never/success 为 null 符合 P8，open_questions 已列出。未发现需修改的内容。",
    "n_issues": 0,
    "n_major": 0
   }
  ],
  "open_zh": []
 },
 "evidence_check": {
  "n_state_runs": 0,
  "n_faithful": 0,
  "success_runs_reaching_all": "0/0",
  "spec_success_eq_grader": "0/0",
  "diverged_runs": [],
  "notes_zh": [
   "when=null 的节点不在状态日志上检查：['letter_in_envelope']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T02:45:12Z",
  "review_prompt": "prompts/02_task_dag_review.md",
  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
  "reconcile_prompt": "prompts/05_reconcile.md",
  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
  "calls": [
   {
    "stage": "dag",
    "round": 0,
    "ok": true,
    "space": "work/tasks/dexhand__envelope_letter_insert/01_dag"
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   {
    "stage": "dag_review",
    "round": 1,
    "ok": true,
    "space": "work/tasks/dexhand__envelope_letter_insert/02_review_r1"
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  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
  "inputs_manifest_sha256": "00ec9d2db2fc6e7b5daab3c7bfab4ff39b722a3967f54364e44416f20cbcad82",
  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
 }
}