{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/usb_plug_insert",
 "suite": "dexhand",
 "base": "dexhand-usb-plug-insert-i00",
 "title_zh": "USB插头接入集线器",
 "summary_zh": "右手先抓起USB-A插头，再将其正确极性朝上接入集线器最右侧四号口，离手后保持充分就位且稳定约一秒，全程不触发掉落、移位或碰撞等失败条件。",
 "embodiment_zh": "两种模式均为固定立柱式天机Marvin机器人，配两条七关节机械臂及灵巧手；仅右臂和右侧灵巧手操作，左臂及左手停放，底座不移动；单次使用Sharpa Wave（22指部执行器）或Wuji Hand 2.2（20指部执行器），两种手使用相同任务验收。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-usb-plug-insert-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "plug_lifted",
    "zh": "拿起插头",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "总览视角中，右手拇指和至少另一根手指接触插头刚性部分（金属壳、塑料壳或应力消除套），将其举离桌面，金属壳尖端中心达到世界高度至少0.73米，且刚性插头除右手外不接触任何物体；只捏住电缆、仍贴桌面或高度不足均未完成。录像顶部阶段由0/3变为1/3（或之后更高阶段）可佐证该次举起已经通过，此步骤一旦通过无需在末态维持举起高度。",
    "step": {
     "cat": "位姿",
     "item": "拿起"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "右手拇指与至少另一根手指捏持插头刚性外壳或护套，右臂带动插头；左手保持停放。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171",
     "inputs/task/privileged/environment/instance.json:39-55",
     "inputs/task/privileged/environment/instance.json:224-230",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e893d23529/scene.py:180-184",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:55-64"
    ],
    "conf": 6,
    "note_zh": "文本要求且单独检查抓起后的世界状态，机器人可以在举起后暂停再插入，因此保留此步骤；不另分接近或合指节点。阶段1是后续插入验收的必要历史条件，故为目标事件；初态插头侧躺桌面，尚未完成。"
   },
   {
    "id": "plug_connected_port4",
    "zh": "插头接入四号口",
    "mode": "state",
    "when": null,
    "after": [
     "plug_lifted"
    ],
    "hold_s": 0.98,
    "goal": true,
    "criterion_zh": "端口近景中，带黑色电缆的插头正确极性朝上地接入黑色集线器最右侧四号口（集线器局部横坐标+33毫米），金属壳尖端相对口沿深度至少10.8毫米、横向偏差绝对值至多0.6毫米、竖向偏差绝对值至多0.5毫米，插头轴与端口轴夹角至多5度且顶面与集线器顶面夹角至多20度。须先通过举起与就位阶段，继而右手与插头、电缆、集线器均无接触，插头速度至多0.01米/秒连续保持50个50赫兹控制步（约1秒；录像顶部显示阶段3/3、保持50/50和通过），才算完成；仅靠近口沿、插错口、仍触碰或未满足稳定窗均未完成，之后抽出、失稳或重新接触则失去该状态。",
    "step": {
     "cat": "关系",
     "item": "连接"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "右手拇指与至少另一根手指捏持插头刚性外壳或护套，右臂带动插头；左手保持停放。"
     },
     {
      "who": "手指/夹爪",
      "how": "推/扫",
      "plan": 2,
      "note_zh": "右手指腹抵住已经对准或初步啮合的插头塑料壳后部，将插头推进四号口，随后移开；此前仍须抓起插头。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:79-99",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:170-198",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:201-234",
     "inputs/task/privileged/environment/instance.json:39-55",
     "inputs/task/privileged/environment/instance.json:234",
     "inputs/grader/efe_dexhand-files/privileged/environment/assets/usb_scene.json:81-92"
    ],
    "conf": 6,
    "note_zh": "连接类型对应插头与集线器接通，实际验收仅检查几何就位，不检查电气导通。转正、对准、推进是这一步的实现与验收，松手和静置合并在此，不另建节点。典型接触为右手抓握插头推进，随后松开；不要求沿用录像的具体捏持位置、腕姿或松指顺序。50个控制步按D31换算为(50-1)×0.02=0.98秒；若以后记录原生released_hold_controls，应直接比较其达到50并将hold_s改为0。"
   }
  ],
  "constraints": [
   {
    "id": "hub_displaced",
    "zh": "集线器移位",
    "never": null,
    "criterion_zh": "集线器原点相对重置时位置的三维欧氏位移大于0.02米；超过限值的首个物理子步立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150",
     "inputs/task/privileged/environment/instance.json:47",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:111-116"
    ]
   },
   {
    "id": "hub_tipped",
    "zh": "集线器倾斜",
    "never": null,
    "criterion_zh": "集线器局部顶面法向与世界竖直方向夹角大于20度；按世界竖直方向判定，不是相对任意起始姿态。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152",
     "inputs/task/privileged/environment/instance.json:48"
    ]
   },
   {
    "id": "plug_below_counter",
    "zh": "插头低于桌面",
    "never": null,
    "criterion_zh": "插头原点即金属壳尖端中心的世界高度低于0.685米（桌面0.70米减0.015米）。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:142-143",
     "inputs/task/privileged/environment/instance.json:40",
     "inputs/task/privileged/environment/instance.json:82"
    ]
   },
   {
    "id": "hub_below_counter",
    "zh": "集线器低于桌面",
    "never": null,
    "criterion_zh": "集线器原点的世界高度低于桌面0.70米即失败；这是评分器额外明列的条件。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:144-145",
     "inputs/task/privileged/environment/instance.json:82"
    ]
   },
   {
    "id": "objects_outside_workspace",
    "zh": "物体离开工作区",
    "never": null,
    "criterion_zh": "插头或集线器的原点离开闭合工作空间盒：世界坐标横向[0.25,1.15]米、纵向[-0.40,0.95]米、高度[0.685,1.10]米；任一坐标严格超界即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:146-148",
     "inputs/task/privileged/environment/instance.json:236-246"
    ]
   },
   {
    "id": "cable_end_off_counter",
    "zh": "电缆远端坠落",
    "never": null,
    "criterion_zh": "自由电缆远端USB-B插头原点的世界高度低于0.65米（比桌面低超过0.05米）即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:153-154",
     "inputs/task/privileged/environment/instance.json:46",
     "inputs/task/privileged/environment/instance.json:82"
    ]
   },
   {
    "id": "robot_collision",
    "zh": "机器人禁触碰",
    "never": null,
    "criterion_zh": "任一机械臂连杆、立柱、躯干或停放的左手与任何物体产生有效接触（包括桌面、地面、任务物体、工作右手或其他机器人部件）即失败；工作右手可以接触桌面及任务物体。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:40-60",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:122-141",
     "inputs/task/privileged/instruction.md:3"
    ]
   },
   {
    "id": "plug_dropped",
    "zh": "插头掉落",
    "never": null,
    "criterion_zh": "举起阶段通过后，若插头及其电缆均无右手接触、没有与任一端口达到至少3毫米插入深度且横竖向偏差各至多4毫米的啮合，同时插头质心向下速度超过0.2米/秒或刚性插头已接触桌面或地面，则首个满足条件的控制步立即失败，没有宽限期或补救机会。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:172-184",
     "inputs/task/privileged/environment/instance.json:41-42"
    ]
   },
   {
    "id": "unstable_physics",
    "zh": "物理状态失稳",
    "never": null,
    "criterion_zh": "出现模拟器非法位置、速度或加速度警告，或任一广义位置非有限值，即在该物理子步终止并失败；需模拟器诊断，单凭画面不能精确确认。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-110"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "plug_lifted",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171; log Checker.stage and lift_step, or the complete lifted predicate from fingers_on_plug, plug_touch and plug_pos"
   },
   {
    "atom": "plug_connected_port4",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:185-198,201-234; log seated_port, target_depth_m, target_lateral_m, target_vertical_m, axis_error_deg, polarity_cos, plug_touch, cable_hand_contacts, hub_hand_contacts, plug_speed_m_s and released_hold_controls"
   },
   {
    "atom": "task_success",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:196-198,232-234; log Checker.success and failure; do not substitute delivery or verifier verdicts"
   },
   {
    "atom": "hub_displaced",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150; inputs/task/privileged/environment/instance.json:47; inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:111-116; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "hub_tipped",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152; inputs/task/privileged/environment/instance.json:48; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "plug_below_counter",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:142-143; inputs/task/privileged/environment/instance.json:40; inputs/task/privileged/environment/instance.json:82; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "hub_below_counter",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:144-145; inputs/task/privileged/environment/instance.json:82; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "objects_outside_workspace",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:146-148; inputs/task/privileged/environment/instance.json:236-246; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "cable_end_off_counter",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:153-154; inputs/task/privileged/environment/instance.json:46; inputs/task/privileged/environment/instance.json:82; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "robot_collision",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:40-60; inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:122-141; inputs/task/privileged/instruction.md:3; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "plug_dropped",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:172-184; inputs/task/privileged/environment/instance.json:41-42; log native failure reason and the raw state/contact/diagnostic quantities used here"
   },
   {
    "atom": "unstable_physics",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-110; log native failure reason and the raw state/contact/diagnostic quantities used here"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "target_depth_fraction",
   "unit": "1",
   "threshold": 0.9,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:93",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:214",
    "inputs/task/privileged/environment/instance.json:53"
   ]
  },
  {
   "name": "abs(target_lateral_m)",
   "unit": "m",
   "threshold": 0.0006,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:94",
    "inputs/task/privileged/environment/instance.json:49"
   ]
  },
  {
   "name": "abs(target_vertical_m)",
   "unit": "m",
   "threshold": 0.0005,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:95",
    "inputs/task/privileged/environment/instance.json:52"
   ]
  },
  {
   "name": "axis_error_deg",
   "unit": "deg",
   "threshold": 5,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:97",
    "inputs/task/privileged/environment/instance.json:45"
   ]
  },
  {
   "name": "polarity_cos",
   "unit": "1",
   "threshold": 0.9396926207859084,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:85",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:97",
    "inputs/task/privileged/environment/instance.json:51"
   ]
  },
  {
   "name": "plug_speed_m_s",
   "unit": "m/s",
   "threshold": 0.01,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:193",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:226",
    "inputs/task/privileged/environment/instance.json:50"
   ]
  },
  {
   "name": "hub_displacement_m",
   "unit": "m",
   "threshold": 0.02,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:225",
    "inputs/task/privileged/environment/instance.json:47"
   ]
  }
 ],
 "open_questions_zh": [
  "没有状态日志（inputs/states/index.json的logs为空），依据P8所有节点when、约束never及success均为null；评分器字段只是待记录来源，不能假定已出现在日志中。录像可判断总体完成与阶段，但亚毫米偏差、确切接触和质心速度需原生特征或录像叠字佐证，不能凭目测估算阈值。",
  "评分器要求，文本未提：集线器原点高度低于桌面0.70米即立即失败（checker.py:144-145），早于其离开工作空间盒的最低高度0.685米；已按N1单列约束。",
  "两种模式物理判定及初态相同，checker.py、runtime.py及instance.json逐字一致；特权模式另要求两次独立回放都成功且最终状态哈希相同，标准模式判在线末次回合。此交付与复现检查不属于物理步骤，success因无状态日志保持null。",
  "粒度说明：文本明确要求拿起，且抓起高度与刚性插头接触有独立检查，因此保留拿起插头事件；极性朝上是接入四号口的验收条件，按S8不另建转正节点，松手静置亦不另建节点。"
 ],
 "conf": 6,
 "conf_reason_zh": "文本、初态、同源评分代码与成功录像支持两个步骤和先举起后接入的顺序，阈值均有来源；缺少任何状态日志，无法验证数值绑定和全部即时失败条件，故置信度为6。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "两节点（拿起、接入四号口含松手稳定1 s）与指令三阶段一致；转正、松手不另建节点符合S8/S1；success与各when按P8为null并在open_questions_zh说明；约束与checker.py一致（含额外的hub_below_counter，已按N1列出）；hold_s=0.98符合D31；掉落约束的4 mm啮合容差与checker一致。未发现需改内容的错误。",
    "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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