{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "robodojo/make_toast",
 "suite": "robodojo",
 "base": "robodojo-make-toast-i00",
 "title_zh": "面包入槽并压杆",
 "summary_zh": "两个面包机槽各插有一片合格直立面包，架上恰留两片且四片均直立，拨杆行程超过 85%，双臂同时回到起始位姿容差内。",
 "embodiment_zh": "两种模式均为固定在桌边的两条 ARX X5 六关节机械臂，左、右臂各配平行二指夹爪，没有移动底盘；头部固定相机及两个腕部相机。特权模式可读物体位姿并重置，标准模式仅由服务提供相机与本体感知，物理任务相同。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "robodojo-make-toast-i00",
  "bench": "robodojo",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "mode": "state",
    "when": null,
    "hold_s": 0,
    "goal": true,
    "optional": false,
    "freeze_held": false,
    "verify_zh": null,
    "conf": 6,
    "id": "bread_in_slots_1",
    "zh": "第1片面包入槽",
    "after": [],
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "单个二指夹爪夹住面包片送入面包机槽；不限定左右手。成功录像先由左夹爪从架上取片，途中交给右夹爪，最后由右夹爪入槽，前后接触不并列。"
     }
    ],
    "sources": [
     "inputs/task/privileged/instruction.md:10",
     "inputs/task/privileged/instruction.md:25-26",
     "inputs/task/privileged/instruction.md:32-47",
     "inputs/task/standard/instruction.md:24-39",
     "inputs/task/privileged/environment/instance.json:463-684",
     "inputs/oracle/replay.mp4 @ 0, 15, 45, 75, 105, 135, 150 s"
    ],
    "note_zh": "四片面包同类可互换，按已占用的不同槽数量计数，不按 bread_0..bread_3 或固定左右槽分别建节点（N4）；每槽须有不同面包片，两个片塞同一槽不算第二片。直立和插入深度是放入的验收品质；取出面包架、抬起、换手与松手不另建节点。检查未要求放手或静置，故 freeze_held=false；无持续窗口。",
    "criterion_zh": "头部相机可见右侧灰色面包机的任一长槽中至少有一片面包竖立并下沉，露出的上缘低于悬在槽口上方的面包；该片中心俯视落入槽的功能矩形（容差 1e-6 m），且高于该矩形严格 0.03 至 0.065 m，片内 ±x、±y 至少一个方向与竖直夹角在 30° 内，夹爪仍夹住也可计入。没有任何槽满足位置、深度和直立条件，或唯一合格面包被取离、抬高或倒平，即未完成或失去；整体成功还要求四片均直立、架上恰留两片、拨杆压下及双臂归位。"
   },
   {
    "mode": "state",
    "when": null,
    "hold_s": 0,
    "goal": true,
    "optional": false,
    "freeze_held": false,
    "verify_zh": null,
    "conf": 6,
    "id": "bread_in_slots_2",
    "zh": "第2片面包入槽",
    "after": [
     "bread_in_slots_1"
    ],
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "单个二指夹爪夹住面包片送入面包机槽；不限定左右手。成功录像先由左夹爪从架上取片，途中交给右夹爪，最后由右夹爪入槽，前后接触不并列。"
     }
    ],
    "sources": [
     "inputs/task/privileged/instruction.md:10",
     "inputs/task/privileged/instruction.md:25-26",
     "inputs/task/privileged/instruction.md:32-47",
     "inputs/task/standard/instruction.md:24-39",
     "inputs/task/privileged/environment/instance.json:463-684",
     "inputs/oracle/replay.mp4 @ 0, 15, 45, 75, 105, 135, 150 s"
    ],
    "note_zh": "四片面包同类可互换，按已占用的不同槽数量计数，不按 bread_0..bread_3 或固定左右槽分别建节点（N4）；每槽须有不同面包片，两个片塞同一槽不算第二片。直立和插入深度是放入的验收品质；取出面包架、抬起、换手与松手不另建节点。检查未要求放手或静置，故 freeze_held=false；无持续窗口。",
    "criterion_zh": "头部相机可见灰色面包机的两个并排长槽各有一片不同的直立面包，上缘均已下沉到槽内；每片中心俯视在各自功能矩形内（容差 1e-6 m），高于该矩形严格 0.03 至 0.065 m，且片内 ±x、±y 至少一个方向与竖直夹角在 30° 内，持片也可计入。两片在同一槽、另一片只悬在槽上，或任一槽的面包离槽、变浅或倒平，都未完成或失去；整体成功同一动作边界还须架上恰有两片且四片均直立、拨杆压下、双臂末端各轴离初位不超过 0.15 m 且转角不超过 20°。"
   },
   {
    "mode": "state",
    "when": null,
    "hold_s": 0,
    "goal": true,
    "optional": false,
    "freeze_held": false,
    "verify_zh": null,
    "conf": 6,
    "id": "toaster_lever_down",
    "zh": "压下拨杆",
    "after": [],
    "criterion_zh": "头部相机中灰色面包机朝机器人一面的拨杆滑到竖槽下部，达到 toast_botton 关节归一化行程 (position-lower)/(upper-lower)>0.85；夹爪继续压住或握住也算，拨杆只是被碰到、仍在中上部或回弹使归一化行程不再超过 0.85即未完成或失去。最终须与两槽各有一片合格直立面包、架上恰留两片且四片均直立、双臂末端各轴离初位不超过 0.15 m 且转角不超过 20° 同时成立，夹爪无须张开，也不要求实际加热或面包弹出。",
    "step": {
     "cat": "机构",
     "item": "按压"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "压/擦",
      "plan": 1,
      "note_zh": "单个夹爪的指端或指面抵住面包机前侧拨杆向下压，右夹爪是录像中的实施端。"
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 2,
      "note_zh": "单个二指夹爪夹住面包机前侧拨杆后向下带动，可持续握住以保持拨杆压下。"
     }
    ],
    "sources": [
     "inputs/task/privileged/instruction.md:48-56",
     "inputs/task/privileged/instruction.md:64-71",
     "inputs/task/standard/instruction.md:40-48",
     "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-425",
     "inputs/oracle/run.json: steps[id=24].out.text (lever starts at position 0; limits -0.0234000012 and 0.0516000018)",
     "inputs/oracle/replay.mp4 @ 142-151 s"
    ],
    "note_zh": "验收是铰接拨杆的位置行程，没有独立通电或温度检查，故标机构·按压。初始归一化行程约 0.312，不成立。单阶段联合检查未规定先入槽再压杆，且可以先压住后装片，因此不从入槽节点加边；录像先装片再压杆只是一个策略。"
   }
  ],
  "constraints": [],
  "success": null,
  "notes_zh": "整体成功为同一动作边界的联合状态：左右槽分别至少一片中心落入功能矩形（1e-6 m 容差）且高于矩形严格 0.03 至 0.065 m；四片面包每片的局部 ±x、±y 至少一个方向在竖直 30° 内；恰两片中心俯视在架轮廓中且高于架底；拨杆归一化关节位置严格大于 0.85；两臂各末端相对初始位姿每坐标轴误差在 0.15 m 内、姿态角误差在 20° 内。无放手、夹爪张开、静止或额外保持时间要求。架内数量和四片姿态是全局分配与品质验收，不作为额外动作；归位按 S4(b) 置于整体成功。此处 success=null 仅因没有逐帧日志，绝非省略联合成功条件。",
  "atoms": [
   {
    "atom": "bread_slot_membership",
    "level": "new_code",
    "source": "需逐帧记录 bread_0..bread_3 各自通过 toast_slot1/toast_slot2 的 is_pointA_in_B_functional_bbox 与 is_A_point_above_B_point_by_z_range 的布尔结果；阈值见 inputs/task/privileged/instruction.md:32-42。"
   },
   {
    "atom": "bread_edge_upright",
    "level": "new_code",
    "source": "需逐帧记录四片面包分别对局部 ±x、±y 的 is_axis_up(30) 的 any 结果；见 inputs/task/privileged/instruction.md:43-45。"
   },
   {
    "atom": "bread_count_in_shelf",
    "level": "new_code",
    "source": "需逐帧记录 is_A_in_B(bread_i,bread_shelf) 及 is_N_A_in_B(N=2) 的结果；见 inputs/task/privileged/instruction.md:46-47。"
   },
   {
    "atom": "toaster_lever_ratio",
    "level": "new_code",
    "source": "需逐帧记录 toast_botton 对应关节的 position、lower、upper 或归一化行程，以严格 >0.85 判断；见 inputs/task/privileged/instruction.md:48-50。"
   },
   {
    "atom": "both_arms_at_origin",
    "level": "new_code",
    "source": "需逐帧记录 all_robot_back_to_origin 的结果或两臂相对起始末端的各轴位置误差及姿态角误差；见 inputs/task/privileged/instruction.md:51-52。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "bread_center_height_above_slot_lower",
   "unit": "m",
   "threshold": 0.03,
   "direction": "higher_better"
  },
  {
   "name": "bread_center_height_above_slot_upper",
   "unit": "m",
   "threshold": 0.065,
   "direction": "lower_better"
  },
  {
   "name": "bread_min_edge_angle_to_up",
   "unit": "deg",
   "threshold": 30,
   "direction": "lower_better"
  },
  {
   "name": "toaster_lever_normalized_position",
   "unit": "ratio",
   "threshold": 0.85,
   "direction": "higher_better"
  },
  {
   "name": "arm_origin_max_axis_position_error",
   "unit": "m",
   "threshold": 0.15,
   "direction": "lower_better"
  },
  {
   "name": "arm_origin_orientation_error",
   "unit": "deg",
   "threshold": 20,
   "direction": "lower_better"
  }
 ],
 "open_questions_zh": [
  "无逐帧状态日志（inputs/states/index.json 的 logs=[]）；按 P8，三个节点 when 和整体 success 均为 null，视频判据承担验收，atoms 列出需补录的世界状态。不能据此宣称日志已验证成功等价。",
  "任务专用 make_toast 检查器、reward_manager 与 func_parser 的完整源码没有随 inputs/bench_src 或 inputs/grader 提供。现有入口仅注册并调用外部环境检查，阈值、单阶段和无提前失败的依据是两模式 instruction.md 的明确检查说明；边界比较细节及四片姿态是否有历史锁存仍需完整源码核实，不虚构源码行号。",
  "说明中“a slice that falls flat anywhere fails”和“must never be left lying flat”可能被读作历史否决，但同一说明又明确没有任何条件会提前失败，且所有条件是当前动作边界的联合验收。本文件把直立作为放入品质及四片全局终态验收，未臆造历史否决约束，也不按四片各增稳住节点；若实际检查记录过往倒伏，需补充约束。",
  "按 N4 采用两次入槽计数；两个不同槽必须分别被占用。架上恰留两片是全局物件分配验收，四片直立是姿态品质，不拆成取出、保留初始目标或检查步骤（S1、D5）。",
  "两模式共用 RoboDojo 的任务检查；特权模式以新进程重放的成功判定，标准模式以实时服务的成功判定（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:152-178；standard/tests/grade.py:39-47）。交付格式、重置许可、基础设施及 15000 动作上限属于运行协议，不加入物理任务节点或约束。",
  "成功录像来自当前唯一成功且也待标注的运行，oracle.json 明确 is_labelled_run=true，按 N2 使用；README 中“无成功示例”的静态说明已落后于该运行。视频用于外观参照，不用于限定换手、左右臂、左右槽顺序或插入阈值。"
 ],
 "conf": 6,
 "conf_reason_zh": "三步粒度和计数来自明确文本，初态由固定 instance 与录像确认，两个模式的入口及成功录像支持同一任务目标；但无状态日志且缺任务专用检查器完整源码，所有条件只能由说明给出阈值并人工对照视频，历史姿态禁令的措辞仍有歧义。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "三个目标节点（两次入槽计数 + 压下拨杆）与说明文字和检查说明一致；归位按 S4(b) 放入 success 说明，未另建节点；无状态日志故 when/success 为 null（P8），阈值与说明一致，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": [
   "when=null 的节点不在状态日志上检查：['bread_in_slots_1', 'bread_in_slots_2', 'toaster_lever_down']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T01:52:12Z",
  "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/robodojo__make_toast/01_dag"
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   {
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    "round": 1,
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    "space": "work/tasks/robodojo__make_toast/02_review_r1"
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  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
  "inputs_manifest_sha256": "f17c2d53eb32600e646e8f0daa49157fa23ac90edad98bc73b907c47bc045404",
  "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
 }
}