{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/stool_brace_insert",
 "suite": "dexhand",
 "base": "dexhand-stool-brace-insert-i00",
 "title_zh": "木凳横撑插接",
 "summary_zh": "横撑两端分别插入两侧框，四根杆的八个木销与八孔一一座合且各杆跨接两框，所有框杆离手并静稳50控制步，过程中不触发任何失败条件。",
 "embodiment_zh": "两模式均为一只灵巧手，默认Sharpa Wave（22个手指执行器），可用Wuji Hand 2.2（20个手指执行器）；安装在六自由度腕部定位台（三移动、三旋转关节）上，无机械臂、无移动底盘，每局只用一只手。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-stool-brace-insert-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "brace_lower_seated",
    "zh": "横撑插入下框",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览中原先躺在前方桌面的浅色横撑竖起，下端插入下框唯一空孔，与原有三杆并立；此前须通过横撑离桌、中心较初态升高至少0.05米且包围盒最低点高于桌面至少0.02米的阶段，插接要求销尖轴向深度0.012至0.019米、径向偏差不超过0.0016米、轴夹角不超过0.105弧度（视频阶段2提示可辅助确认）。悬在孔上或下端退出上述座合范围均未达成／失去此状态；任务最终还要求此接合与另七处接合同时成立、所有框杆离手且线速度不超过0.02米/秒、角速度不超过0.2弧度/秒，连续50控制步，作为跨步骤联合成功验收。",
    "step": {
     "cat": "关系",
     "item": "插入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "单只灵巧手用拇指和其他手指夹握横撑，转立并将下端木销送入下框空孔。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/standard/instruction.md:1-7",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/a474b21f41/scene.py:179-186",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:245-250",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:265-284",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52-66",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:99-108"
    ],
    "conf": 7,
    "note_zh": "横撑抬起和转立是插接的途径，原生阶段1并入本步验收，不另计节点；阶段2锁存不代替实时下端座合。持物时也能形成接合，故关闭持物冻结；三根预插杆与下框的初态保护另列约束。"
   },
   {
    "id": "upper_frame_seated",
    "zh": "上框套入木销",
    "mode": "state",
    "when": null,
    "after": [
     "brace_lower_seated"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览中原在后方桌面倒置的侧框已位于四根立杆上，四个朝下孔各套住一个不同立杆的上端木销；此前按原生顺序通过下端插接后上框离桌、中心升高至少0.05米且包围盒最低点高于桌面至少0.02米，四处上端接合均满足深度0.012至0.019米、径向偏差不超过0.0016米、轴夹角不超过0.105弧度，悬在销上、偏孔或仅套入部分木销均未达成，脱离则失去。整体成功另须八个销端与八孔一一座合且每根杆跨接两框（包括三根预插杆的下端仍完全座合），所有框杆离手且线速度不超过0.02米/秒、角速度不超过0.2弧度/秒，连续50个0.02秒控制步；视频末尾可见手退开、完整框架静止，阶段4、8/8与保持50/50提示辅助确认联合验收。",
    "step": {
     "cat": "关系",
     "item": "插入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "单只灵巧手抓握另一侧框的框条，保持倒置姿态并下放，使四孔同时套入四根杆的上端木销。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/standard/instruction.md:1-7",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/a474b21f41/scene.py:206-210",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:251-284",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52-66",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:99-108"
    ],
    "conf": 7,
    "note_zh": "一整块侧框同时套入四根木销是一次插接，不拆为四孔节点；上框抬起并入该步的阶段验收。下端横撑接合由前节点追踪，本节点追踪上框四处接合；八处一一匹配、各杆跨两框及全部件离手静止50控制步是跨步骤success联合条件，不另建松手节点。故本节点持框时可达成，freeze_held=false，hold_s=0；未来日志应直接记录released_hold_steps>=50来判断联合成功，无须重复时间保持。"
   }
  ],
  "constraints": [
   {
    "id": "lower_frame_displaced",
    "zh": "下框移位",
    "never": null,
    "criterion_zh": "下框中心相对初态位移大于0.03米，或本体z轴线偏离世界竖直大于0.1745弧度（文本约10度），任一2毫秒物理子步触发即永久失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:182-185",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:57-58"
    ]
   },
   {
    "id": "preseated_rail_disturbed",
    "zh": "预插杆松脱",
    "never": null,
    "criterion_zh": "三根预插杆任一原下孔轴向深度小于0.008米，或杆轴线偏离竖直大于0.1745弧度（文本约10度），立即失败；不将保护这些初态关系另列进度节点。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:145-155",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:186-193",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:222-229",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:59-60"
    ]
   },
   {
    "id": "brace_dropped",
    "zh": "横撑落回低处",
    "never": null,
    "criterion_zh": "原生阶段至少1后，横撑与桌面有有效接触，或横撑中心z低于0.74+0.09=0.83米，立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:194-195",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:216-217",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:15",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:61"
    ]
   },
   {
    "id": "brace_knocked_over",
    "zh": "横撑倾倒",
    "never": null,
    "criterion_zh": "原生阶段至少2后，横撑本体z轴线偏离世界竖直超过0.349弧度（文本约20度），立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:139-142",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:196-197",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:62"
    ]
   },
   {
    "id": "upper_frame_dropped",
    "zh": "上框失稳",
    "never": null,
    "criterion_zh": "原生阶段至少3后，另一侧框与桌面有有效接触，或其本体z轴与世界向下方向夹角超过0.349弧度（文本约20度），立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:198-201",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:218-219",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:62"
    ]
   },
   {
    "id": "unsupported_fall",
    "zh": "部件自由下落",
    "never": null,
    "criterion_zh": "任一框或杆没有任何有效接触（包括手、支撑物和其他部件），且质心竖直速度小于-0.2米/秒，立即失败，没有允许掉落后接住的窗口。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:202-212",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:63"
    ]
   },
   {
    "id": "part_outside_workspace",
    "zh": "部件越界触地",
    "never": null,
    "criterion_zh": "任一框或杆接触地面，或中心z低于桌面0.74米，或中心离开闭区间工作盒x=[0.23,1.23]米、y=[-0.73,1.03]米、z=[0.70,1.60]米，立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:177-181",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:213-215",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:15",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:67-78"
    ]
   },
   {
    "id": "unstable_physics",
    "zh": "物理失稳",
    "never": null,
    "criterion_zh": "物理子步出现运行时指定的不稳定数值警告时立即失败；画面突跳不能单独证明，需模拟器报告。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:21-23",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:125-137"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "brace_lower_seated",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:245-250,265-267; log stage and brace_lower_seated plus prior brace_lifted stage"
   },
   {
    "atom": "upper_frame_seated",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:99-108,236-264; log seated_matrix with end/bore identities, stage, and frame_lifted"
   },
   {
    "atom": "assembled_released_hold",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:256-284,299-304; log assembled, stage, hand_contact_parts, max_linear_speed_m_s, max_angular_speed_rad_s, released_hold_steps, failure, success"
   },
   {
    "atom": "lower_frame_displaced",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:182-185; log initial-relative lower frame shift and tilt"
   },
   {
    "atom": "preseated_rail_disturbed",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:186-193,222-229; log per-preseated-rail original bore depth and tilt"
   },
   {
    "atom": "brace_dropped",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:194-195,216-217; log stage, brace center z, active brace-table contact"
   },
   {
    "atom": "brace_knocked_over",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:196-197; log stage and direction-free brace tilt"
   },
   {
    "atom": "upper_frame_dropped",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:198-201,218-219; log stage, upper frame downward-axis tilt, active table contact"
   },
   {
    "atom": "unsupported_fall",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:202-212; log substep active contacts and per-part COM vertical speed"
   },
   {
    "atom": "part_outside_workspace",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:177-181,213-215; log per-part center positions and floor contacts"
   },
   {
    "atom": "unstable_physics",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/200e107768/runtime.py:125-137; log per-substep instability warnings and failure"
   }
  ],
  "notes_zh": "无状态日志，所有条件均留空。联合成功严格为原生阶段4、实时八处完整一一座合、各杆跨两框、全部件无手接触且最大质心线速度<=0.02米/秒和角速度<=0.2弧度/秒连续50控制步，并且无历史失败；Checker.hold达到50锁存success。跨步骤保持条件放入success的语义与两节点视频判据，未复制到各节点的局部完成条件；未来若有完整日志，应以原生计数器>=50表达，无须额外hold_s。"
 },
 "native_metrics": [
  {
   "name": "seat_depth_min",
   "unit": "m",
   "threshold": 0.012,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:52"
   ]
  },
  {
   "name": "seat_depth_max",
   "unit": "m",
   "threshold": 0.019,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/d834df3fd3/checker.py:104; inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:43"
   ]
  },
  {
   "name": "seat_lateral",
   "unit": "m",
   "threshold": 0.0016,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:53"
   ]
  },
  {
   "name": "seat_axis",
   "unit": "rad",
   "threshold": 0.105,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:54"
   ]
  },
  {
   "name": "max_linear_speed",
   "unit": "m/s",
   "threshold": 0.02,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:64"
   ]
  },
  {
   "name": "max_angular_speed",
   "unit": "rad/s",
   "threshold": 0.2,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:65"
   ]
  },
  {
   "name": "released_hold_steps",
   "unit": "control_steps",
   "threshold": 50,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/8ecb966547/task.json:66"
   ]
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json的logs为空，成功示例也无状态日志；依DECISIONS.md P8，所有when、never及success均为null，atoms只说明待补录字段，不推测实际日志路径，无法执行状态一致性实证检查。",
  "粒度边界：文本列出两次独立抬起测试，但其目的是到达两次插接位置；按S1、S8及CASES STEP-1将抬起保留为各插接的原生阶段验收而不另计步骤。横撑下端插入与上框套入操作不同部件，且能在二者之间停下，故保留两节点；这一解释未有该任务的专门裁定。",
  "视频可见前方横撑竖起插入、后方侧框上移套合及末尾手退出，并有阶段与8/8、50/50提示；0.0016米横向容差和0.105弧度对轴等精确值无法单凭像素独立量准，需原生检查结果辅助，节点置信度受此限制。",
  "两模式使用同一物理任务与Checker。standard评分读取可信服务最后一局实时成功；privileged评分还要求两次新进程回放成功且末态哈希一致，属于交付／复现条件，不增加语义步骤或世界状态约束；见inputs/grader/efe_dexhand-files/standard/tests/grade.py:23-45与inputs/grader/efe_dexhand-files/privileged/tests/grade.py:116-127。",
  "文本约10度／20度，冻结配置实际分别为0.1745／0.349弧度，采用配置的精确阈值；50控制步由原生计数器验收，不用视频冻结尾帧充当静置时间。"
 ],
 "conf": 6,
 "conf_reason_zh": "两次插接、必要顺序及全部失败条件有文本、冻结代码与成功视频支持；缺少状态日志，无法绑定与实证检验，毫米级座合需视频原生提示辅助，且抬起阶段是否单列存在粒度解释空间。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "两步（横撑下端插入下框、上框套入四木销）与文本一致；抬起阶段并入各插接，联合验收/松手静置放在notes与criterion，未另建节点；无状态日志故when/never/success均为null（P8），阈值与grader一致，约束均为立即终止，无遗漏。仅有措辞层面意见。",
    "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": [
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