{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/binder_page_load",
 "suite": "dexhand",
 "base": "dexhand-binder-page-load-i00",
 "title_zh": "双页装入活页夹",
 "summary_zh": "先打开扣环并将两张三孔纸套入对应环线，再闭环使六孔全部链接，纸页留在后封面且全局离手静置50控制步，全程不触发立即失败条件。",
 "embodiment_zh": "两种模式均为单只右灵巧手，默认Sharpa Wave（22个手指驱动器），也支持Wuji Hand 2.2（20个手指驱动器）；安装在三平移加三旋转的六自由度腕部定位台上，无机械臂、无移动底盘，控制频率50 Hz。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-binder-page-load-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "rings_opened",
    "zh": "打开扣环",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "白色文件夹中缝处的三对金属半环分开、两侧拨板向外张开，两块拨板角度均达到0.50 rad；总览或扣环近景可见分开的环尖，未形成开口即未完成。此为一次性通过的开环步骤，之后为装订而闭合不撤销。",
    "step": {
     "cat": "机构",
     "item": "打开"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "压/擦",
      "note_zh": "右手食指等手指下压文件夹任一端的助力拨片，使两侧扣环同时张开。",
      "plan": 1
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "右手手指捏住金属半环或拨板边缘，拨开扣环机构。",
      "plan": 2
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:230-232",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:113-116",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:106",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:114-150",
     "inputs/oracle/replay.mp4:0-2 s"
    ],
    "conf": 8,
    "note_zh": "只设一个机构开环节点：三环由同一对拨板和内部联动机构共同开合，并非三个独立任务物件。原生第1阶段锁存，成功必须先经过；助力拨片是机构部件，不是须拾取的工具。"
   },
   {
    "id": "pages_threaded_1",
    "zh": "第1张纸入环",
    "mode": "state",
    "when": null,
    "after": [
     "rings_opened"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见至少1张纸的三孔边沿套在文件夹同站的三个环线上，页身落在后封面一侧，而非仍散放桌面或仅压在环上：每张纸的三个孔均被正确穿过，开环时右半环各穿孔一次且左半环不穿孔，交点距孔心不超过3.5 mm，闭环后各孔被闭合环恰链接一次，距孔线60 mm的页中心在文件夹坐标中满足0.03<x<0.16 m、|y|<0.03 m、-0.01<z<0.06 m。计入的纸须离手并接触文件夹或另一张纸；少于1张满足时失去此状态，装完两张后还须在开环状态共同离手通过装页阶段，最终六孔链接、全局离手和连续50控制步的静置按联合成功条件验收（成功视频约17 s可见一张入环、约27 s可见两张叠在后封面）。",
    "step": {
     "cat": "关系",
     "item": "穿绕"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "右手拇指与其余手指捏住任一张纸的页边，将三孔套过对应环尖后放开。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:109-125",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:191-225",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:247-266",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:112",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:115-128",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:355-358",
     "inputs/oracle/replay.mp4:16-18 s, 26-27.2 s"
    ],
    "conf": 6,
    "note_zh": "两张纸的目标条件相同，按满足条件的张数计，不固定纸张身份；每张的三个孔只是该张装页的完整性验收，不拆成逐孔节点。开环穿好到闭环链接均属同一入环关系；不把环角度加在每张纸的状态上，以免关环操作人为清空装页进度。freeze_held=false：重新接触或取走已装页时，应按离手、支承及穿孔关系实时判断，不能冻结旧值；另一张纸的接触不单独清空已合格纸张。"
   },
   {
    "id": "pages_threaded_2",
    "zh": "第2张纸入环",
    "mode": "state",
    "when": null,
    "after": [
     "pages_threaded_1"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见至少2张纸的三孔边沿套在文件夹同站的三个环线上，页身落在后封面一侧，而非仍散放桌面或仅压在环上：每张纸的三个孔均被正确穿过，开环时右半环各穿孔一次且左半环不穿孔，交点距孔心不超过3.5 mm，闭环后各孔被闭合环恰链接一次，距孔线60 mm的页中心在文件夹坐标中满足0.03<x<0.16 m、|y|<0.03 m、-0.01<z<0.06 m。计入的纸须离手并接触文件夹或另一张纸；少于2张满足时失去此状态，装完两张后还须在开环状态共同离手通过装页阶段，最终六孔链接、全局离手和连续50控制步的静置按联合成功条件验收（成功视频约17 s可见一张入环、约27 s可见两张叠在后封面）。",
    "step": {
     "cat": "关系",
     "item": "穿绕"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "右手拇指与其余手指捏住任一张纸的页边，将三孔套过对应环尖后放开。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:109-125",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:191-225",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:247-266",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:112",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:115-128",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:355-358",
     "inputs/oracle/replay.mp4:16-18 s, 26-27.2 s"
    ],
    "conf": 6,
    "note_zh": "两张纸的目标条件相同，按满足条件的张数计，不固定纸张身份；每张的三个孔只是该张装页的完整性验收，不拆成逐孔节点。开环穿好到闭环链接均属同一入环关系；不把环角度加在每张纸的状态上，以免关环操作人为清空装页进度。freeze_held=false：重新接触或取走已装页时，应按离手、支承及穿孔关系实时判断，不能冻结旧值；另一张纸的接触不单独清空已合格纸张。"
   },
   {
    "id": "rings_closed",
    "zh": "关上扣环",
    "mode": "state",
    "when": null,
    "after": [
     "pages_threaded_2"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "三对金属环尖重新对合成闭环，两块拨板角度均不大于0.05 rad；扣环近景可见完整弧圈，任一侧重新张开超过阈值即失去，初始闭合也计入。最终必须两页六孔各被闭环链接一次且页中心仍在后封面合格区域，两页受文件夹或另一页支承，手与所有纸张及文件夹部件均无接触，两页相对静置窗口起点位移不超过2 mm、转角不超过0.03 rad并连续满足50个50 Hz控制步（标称1 s）；成功视频末尾近景可见手离开、三环闭合、两页留在后封面，联合窗口未过还不算整项任务成功。",
    "step": {
     "cat": "机构",
     "item": "关上"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "压/擦",
      "note_zh": "右手手指下压张开的金属拨板内侧凸边，使过中心机构回到闭合端。",
      "plan": 1
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "右手手指捏合两侧金属半环或拨板，将环尖合拢。",
      "plan": 2
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:231-232",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:256-279",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:117-128",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/be8d26ca72/scene.py:114-139",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:107-108",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:127-128",
     "inputs/oracle/replay.mp4:29-31.8 s"
    ],
    "conf": 8,
    "note_zh": "按S4(b)作为恢复机构状态的state节点，关环本身只判断rings_closed，闭环初态由场景零关节值与reset确定；after仅说明最后关环的顺序，不门控初态。六孔链接已分配给两张装页节点，阶段顺序、全局离手和共同静置窗口分配到success，故本节点hold_s=0，不把联合窗口再重复计时；有日志时优先直接记录原生hold_steps>=50。"
   }
  ],
  "constraints": [
   {
    "id": "page_on_floor",
    "zh": "纸张触地",
    "never": null,
    "criterion_zh": "任一张纸与地板接触即失败；纸接触桌面或在桌边悬伸本身不违规。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:146-150"
    ]
   },
   {
    "id": "page_free_fall",
    "zh": "纸张掉落",
    "never": null,
    "criterion_zh": "任一张纸完全没有接触，世界竖直速度小于-0.2 m/s，且没有任何对应环半线穿过其任一孔时立即判掉落，不提供再接住的宽限。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:161-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:129"
    ]
   },
   {
    "id": "page_below_desk",
    "zh": "纸张低于桌面",
    "never": null,
    "criterion_zh": "任一纸张原点z<0.698 m，即低于0.70 m桌面超过2 mm。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:130-133",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:113"
    ]
   },
   {
    "id": "page_outside_workspace",
    "zh": "纸张越界",
    "never": null,
    "criterion_zh": "任一纸张原点离开闭区间工作空间：x为[0.20,0.98] m，y为[-0.38,0.48] m，z为[0.698,1.10] m。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:134-135",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:114-125"
    ]
   },
   {
    "id": "binder_displaced",
    "zh": "文件夹移位",
    "never": null,
    "criterion_zh": "文件夹基体相对重置位置的水平位移范数大于0.03 m。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:136-138",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:63",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:109"
    ]
   },
   {
    "id": "binder_tilted",
    "zh": "文件夹倾斜",
    "never": null,
    "criterion_zh": "文件夹基体的向上轴相对世界竖直方向倾角大于0.35 rad。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:139-140",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:110"
    ]
   },
   {
    "id": "wire_through_page",
    "zh": "环线穿透纸面",
    "never": null,
    "criterion_zh": "金属环线与纸实体接触的穿透深度大于1.2 mm；环线只能从孔中穿过。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:156-160",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:111"
    ]
   },
   {
    "id": "hand_through_page",
    "zh": "手穿透纸面",
    "never": null,
    "criterion_zh": "任一手部几何体与纸实体接触的穿透深度大于3 mm。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:151-155",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:126"
    ]
   },
   {
    "id": "unstable_physics",
    "zh": "物理失稳",
    "never": null,
    "criterion_zh": "任一2 ms物理子步出现原生BADQPOS、BADQVEL或BADQACC警告即立即失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:95-107"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "rings_open",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:230-231；需逐帧记录features().rings_open与toggles_rad；本任务无状态日志。"
   },
   {
    "atom": "rings_closed",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:230-232；需逐帧记录features().rings_closed与toggles_rad。"
   },
   {
    "atom": "pages_threaded_count",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:191-240；需逐帧记录每孔open_threaded、linked及每页pages_over_cover、pages_resting、hand_on_pages，按合格页数量计算。"
   },
   {
    "atom": "ordered_terminal_hold",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:113-128,142-157；需记录stage、hold_steps、success、failure以及Checker.terminal与still结果；成功还要求按次序通过开环、双页开环离手装页、闭环链接并完成50控制步联合窗口。"
   },
   {
    "atom": "page_on_floor",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:146-150；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "page_free_fall",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:161-183；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:129；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "page_below_desk",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:130-133；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:113；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "page_outside_workspace",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:134-135；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:114-125；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "binder_displaced",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:136-138；inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:63；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:109；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "binder_tilted",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:139-140；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:110；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "wire_through_page",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:156-160；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:111；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "hand_through_page",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/cbf4353688/checker.py:151-155；inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:126；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   },
   {
    "atom": "unstable_physics",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/979d961057/runtime.py:95-107；需逐物理子步记录Checker.failure或原生失稳警告及failure_detail，避免50 Hz采样漏掉立即失败。"
   }
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   "unit": "rad",
   "threshold": 0.5,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/c102aa24ba/task.json:106"
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   "direction": "lower_better",
   "sources": [
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  {
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   "threshold": 0.0012,
   "direction": "lower_better",
   "sources": [
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  },
  {
   "name": "hand_page_penetration",
   "unit": "m",
   "threshold": 0.003,
   "direction": "lower_better",
   "sources": [
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  },
  {
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   "unit": "m",
   "threshold": 0.002,
   "direction": "lower_better",
   "sources": [
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  {
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 "open_questions_zh": [
  "inputs/states/index.json中logs为空，oracle也无状态日志；按P8所有when、never和success均为null，不能从代码中的字段名假定它们已被日志记录。微小穿孔误差、接触和静置容差需依赖原生阶段读数或补充提取器，视频只能部分辨认。",
  "联合成功条件：原生stage必须依次经过rings_opened、pages_placed、rings_closed，随后terminal与still连续成立使hold_steps达到50，且无任何历史失败。pages_placed要求两板均>=0.50 rad、六孔由各自右半环恰穿一次且左半环零次、两页均离手、均有文件夹或另一页接触且页中心在后封面合格框；最终要求两板均<=0.05 rad、六孔闭环链接、页中心合格、两页受支承、手离开全部纸与文件夹，并相对窗口起点位移<=2 mm、转角<=0.03 rad。全局离手和共同窗口跨越多个步骤，归success，不单列release节点，也不在各装页节点复制另一张纸的接触检查。",
  "S4(b)恢复步骤的初态处理：扣环从0 rad闭合开始，所以关上扣环只按机构闭合状态从初态计分；开环事件补偿其失分。最终六孔链接属于装页关系，联合放手静置归success；不以原生stage>=3门控关环，否则会隐去初态。",
  "模式差异：standard直接评判最后一个实时回合；privileged在两个新进程中重放动作，要求两次物理成功且最终状态哈希一致。checker.py和runtime.py逐字相同，DAG只表达共同物理任务，不将轨迹格式、确定性哈希或基础设施状态虚构成世界状态节点。",
  "成功视频标注4倍速，约29.8 s前为运动、末尾为成功近景静帧；50控制步的标称1 s属于模拟时钟，不可要求视频中等待1 s。第一帧已显示stage 1与扣环约0.6 rad，未呈现重置时刻；闭环初态依据场景铰链零值和runtime.reset核实，不能从视频首帧误判为开环初态。"
 ],
 "conf": 6,
 "conf_reason_zh": "四个语义步骤、数量、机制顺序及所有容差均由任务文本和共同评分器支持，成功视频展示逐页装订及最终闭环离手；无状态日志，六孔拓扑和毫米级接触验收无法逐帧自检，因此降低置信度。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
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    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 6,
    "summary_zh": "四个节点（开环、第1/2张纸入环、闭环）与任务文本阶段(1)-(3)一致，两张纸按计数步处理，阶段(4)离手静置归success/开放问题，约束均为立即终止且取自评分器；无状态日志故when均为null并已在open_questions_zh说明。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：['rings_opened', 'pages_threaded_1', 'pages_threaded_2', 'rings_closed']"
  ]
 },
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