{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/boot_sole_brush",
 "suite": "dexhand",
 "base": "dexhand-boot-sole-brush-i00",
 "title_zh": "刷净靴底泥块",
 "summary_zh": "六块泥均离开朝上的靴底并留在收集盘内，刷子撤离后全体静止达到规定窗口，满足评分器刷毛接触历史且全程无禁碰、掉落或靴子移位。",
 "embodiment_zh": "两种模式均为固定底座的天机 Marvin 双臂机器人，实际只由右侧7关节臂及右灵巧手操作；默认 Sharpa Wave（22指关节执行器），也支持 Wuji Hand 2.2（20指关节执行器），左臂及左灵巧手停放不用，底座不移动。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-boot-sole-brush-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "brush_in_hand",
    "zh": "拿起鞋刷",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "goal": false,
    "freeze_held": false,
    "criterion_zh": "总览画面中，右侧灵巧手握住黄褐色木背鞋刷并使刷子离开台面，刷子由右手带动而非仍放在台上；仅手碰刷子但未拿离台面不算完成。",
    "step": {
     "cat": "位姿",
     "item": "拿起"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "右手拇指与其他手指夹握鞋刷木背，拿离台面；不限定具体手指组合或握持位置。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:181-209",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:96-110",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:255-258",
     "inputs/oracle/replay.mp4 @ 0.0, 8.0 s"
    ],
    "conf": 7,
    "note_zh": "按 Y17/D2 保留必需工具步骤：文本明确拿起鞋刷；评分器首阶段要求手接触刷子且刷子离开台面，刷毛接触高处鞋底，后续还要求逐块刷毛接触。该拿起状态不要求刷毛已触鞋底，累计10控制步的刷鞋底接触留在总体成功验收。"
   },
   {
    "id": "clods_in_tray_1",
    "zh": "第1块泥入盘",
    "mode": "state",
    "when": null,
    "after": [
     "brush_in_hand"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少1块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于1块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
    "step": {
     "cat": "材料",
     "item": "清洁"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "推/扫",
      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
    ],
    "conf": 6,
    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
   },
   {
    "id": "clods_in_tray_2",
    "zh": "第2块泥入盘",
    "mode": "state",
    "when": null,
    "after": [
     "clods_in_tray_1"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少2块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于2块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
    "step": {
     "cat": "材料",
     "item": "清洁"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "推/扫",
      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
    ],
    "conf": 6,
    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
   },
   {
    "id": "clods_in_tray_3",
    "zh": "第3块泥入盘",
    "mode": "state",
    "when": null,
    "after": [
     "clods_in_tray_2"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少3块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于3块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
    "step": {
     "cat": "材料",
     "item": "清洁"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "推/扫",
      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
    ],
    "conf": 6,
    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
   },
   {
    "id": "clods_in_tray_4",
    "zh": "第4块泥入盘",
    "mode": "state",
    "when": null,
    "after": [
     "clods_in_tray_3"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少4块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于4块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
    "step": {
     "cat": "材料",
     "item": "清洁"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "推/扫",
      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
    ],
    "conf": 6,
    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
   },
   {
    "id": "clods_in_tray_5",
    "zh": "第5块泥入盘",
    "mode": "state",
    "when": null,
    "after": [
     "clods_in_tray_4"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少5块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于5块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
    "step": {
     "cat": "材料",
     "item": "清洁"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "推/扫",
      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
    ],
    "conf": 6,
    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
   },
   {
    "id": "clods_in_tray_6",
    "zh": "第6块泥入盘",
    "mode": "state",
    "when": null,
    "after": [
     "clods_in_tray_5"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少6块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于6块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。",
    "step": {
     "cat": "材料",
     "item": "清洁"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "推/扫",
      "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276",
     "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s"
    ],
    "conf": 6,
    "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。"
   }
  ],
  "constraints": [
   {
    "id": "boot_displaced",
    "zh": "靴子移位倾斜",
    "never": null,
    "criterion_zh": "任一2 ms物理子步，靴子原点相对静置后初态位移>0.03 m，或自身轴相对初始轴倾角>0.35 rad，立即永久判负；画面中靴子明显偏离支架或倾倒是可见线索，精确边界需物理状态。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:123-128",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:152-154",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:256-257",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:96-108"
    ]
   },
   {
    "id": "debris_outside_tray",
    "zh": "泥块落出台面",
    "never": null,
    "criterion_zh": "任一泥块接触台面或地面、中心低于z=0.886 m，或中心离开工作空间 x∈[0.25,1.2] m、y∈[-0.45,0.45] m、z∈[0.886,1.8] m，任一2 ms子步立即永久判负；仅尚未入盘且仍在工作空间中飞行不自动判负。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:155-159",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:171-177",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:13",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:264-275"
    ]
   },
   {
    "id": "hand_touched_debris",
    "zh": "右手碰泥",
    "never": null,
    "criterion_zh": "右手任一有效碰撞几何与任一泥块直接接触，在首个2 ms子步永久判负；不得用手指直接拨、夹、接住泥块。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:55-66",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183"
    ]
   },
   {
    "id": "brush_dropped",
    "zh": "刷子掉落禁碰",
    "never": null,
    "criterion_zh": "刷子接触地面、收集盘或支架，中心低于z=0.886 m或离开工作空间 x∈[0.25,1.2] m、y∈[-0.45,0.45] m、z∈[0.886,1.8] m，或刷子除泥块外无任何外部接触且质心竖直速度<-0.2 m/s，任一2 ms子步立即永久判负；在空中滑脱后接回不能撤销失败，刷子放回台面或暂靠鞋底本身并非此项违规。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:160-162",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:184-199",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:264-276"
    ]
   },
   {
    "id": "robot_collision",
    "zh": "非右手部件碰撞",
    "never": null,
    "criterion_zh": "除工作右手外，底座、躯干、两臂连杆或法兰、停放左手的任一有效碰撞接触均在首个2 ms子步永久判负，包括自碰撞；右手与鞋刷的正常接触允许。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:55-59",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:130-137",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:164-170"
    ]
   },
   {
    "id": "unstable_physics",
    "zh": "物理状态不稳定",
    "never": null,
    "criterion_zh": "MuJoCo出现BADQPOS、BADQVEL或BADQACC警告，首个检查到的2 ms子步永久判负；仅从画面无法可靠判定此项，需原生警告记录。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:32",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:149-151"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "brush_in_hand",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:156-174; log features.hand_on_brush, features.brush_on_counter and brush/hand poses"
   },
   {
    "atom": "clods_in_tray_count",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142,243-247; log features.in_tray, features.clods_in_tray and latched hand_touched_debris"
   },
   {
    "atom": "task_success",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:249-267; log checker.success, stage, brush_contact_controls, brushed, hold and failure"
   },
   {
    "atom": "boot_displaced",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
   },
   {
    "atom": "debris_outside_tray",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
   },
   {
    "atom": "hand_touched_debris",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
   },
   {
    "atom": "brush_dropped",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
   },
   {
    "atom": "robot_collision",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
   },
   {
    "atom": "unstable_physics",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "clods_in_tray",
   "unit": "count",
   "threshold": 6,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:245-260"
   ]
  },
  {
   "name": "clods_brushed",
   "unit": "count",
   "threshold": 6,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:202-211,245-260"
   ]
  },
  {
   "name": "brush_contact_controls",
   "unit": "control",
   "threshold": 10,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:255-258"
   ]
  },
  {
   "name": "hold",
   "unit": "control",
   "threshold": 50,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:262-267"
   ]
  },
  {
   "name": "max_clod_speed",
   "unit": "m/s",
   "threshold": 0.05,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:262"
   ]
  },
  {
   "name": "boot_shift_m",
   "unit": "m",
   "threshold": 0.03,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:256"
   ]
  },
  {
   "name": "boot_tilt_rad",
   "unit": "rad",
   "threshold": 0.35,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:257"
   ]
  }
 ],
 "open_questions_zh": [
  "状态日志为空（inputs/states/index.json）；按 P8 所有节点 when、全部约束 never 与 success 均为 null，不能把源码中的 features 当作已记录字段。spec.atoms 的 new_code 是未来应记录的量；现有成功视频及其顶部计数可判断结果，但没有逐帧日志来核实毫米级边界、子步接触和精确累计窗口。",
  "工具拿起的 D2/Y17 应用：保留非可选“拿起鞋刷”。instruction.md:3明确要求右手拿刷；checker.py:255-258要求刷毛接触高处鞋底、手接触刷子且刷子不接触台面，checker.py:202-211、259-267要求每块泥在鞋底上被刷毛碰过。刷子初始在台面且未安装在机器人上，因此每条合法成功路线都需要拿起这把刷子；不要求采用成功视频的夹持位置或后续换握。",
  "任务设计问题：D9规定清洁节点按泥块离开鞋底并入盘的结果计，允许刷动一块泥间接挤落另一块；但checker.py:202-211、259-263会拒绝未获逐块刷毛直接接触历史的结果。当前instruction.md:3也明写该限制，因此并非当前文本漏写；按D9仍将它仅保留在总体成功验收说明，绝不作为六个清洁节点的额外判据，success待有日志时绑定原生成功状态。",
  "D16(a)接触边界仍开放：本任务泥块为无粘连刚体，刷毛沿鞋底推扫使其落盘，故暂取手持工具×推/扫；材料·清洁表示去除鞋底泥污，盘内收集是接受条件。未据分类表中的旧例机械采用压/擦，也未把工具握持重复标在清洁节点。",
  "总体成功的精确验收（当前success=null）：刷毛触靴、右手触刷且刷子离台面累计至少10控制步；每块泥中心不低于当时鞋底平面0.01 m时曾被刷毛代理触碰且六块都在盘内，进入阶段2；之后六块持续在盘内、最大线速度≤0.05 m/s，刷子不碰靴或泥且刷毛中心高于当时鞋底平面至少0.04 m或水平距鞋底中心至少0.18 m，连续50控制步（hold原生计数达到50），无任何历史失败。刷子撤离与联合静置归success，不各建节点或推迟每一块泥已入盘的进度；累计刷靴10步也不是拿起工具的完成条件。",
  "评分器要求，文本未提：in_tray还严格要求泥块中心z>0.886 m（checker.py:139-142）；文本给出z<0.931 m并仅对z<0.886 m即时判负。节点标准采用源码上下界；在盘底的正常落稳状态高于此下界。",
  "privileged与standard的checker.py、task.json、runtime.py逐字相同，物理成功条件共用；privileged外层另要求两次新进程回放成功且终态哈希相同，standard按最后一次现场episode判定（各自tests/grade.py）。交付格式、复现有效性、时间上限不是世界状态节点或约束。",
  "唯一成功参考为inputs/oracle/oracle.json指定的Sharpa privileged运行；视频已查看初态、拿刷、扫落计数和终态（顶部stage 3/3、in tray 6/6、hold 50/50），不据它先鞋尖后鞋跟、重复刷扫及换握的策略增加步骤或顺序。"
 ],
 "conf": 6,
 "conf_reason_zh": "七个步骤来自文本中的必需鞋刷及六个计数对象，初态和所有阈值可由源码核实，成功视频显示全部完成；无状态日志，精确接触历史与子步失败不能自动核验，工具步骤应用及推扫接触边界仍按临时规则处理。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "七个节点（拿起鞋刷+六个入盘计数节点）与文本一致；无状态日志故所有 when/never/success 为 null 符合 P8；约束与评分器失败条件一致且均为立即终止；刷毛累计10步、刷子撤离与50步静置并入总体说明，未另建节点；标签（材料·清洁、手持工具×推/扫）按临时规则可接受，D9/D16 开放点已写入 open_questions_zh。未发现需要修改的内容。",
    "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：['brush_in_hand', 'clods_in_tray_1', 'clods_in_tray_2', 'clods_in_tray_3', 'clods_in_tray_4', 'clods_in_tray_5', 'clods_in_tray_6']"
  ]
 },
 "provenance": {
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  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T11:27:31Z",
  "review_prompt": "prompts/02_task_dag_review.md",
  "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
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  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
  "calls": [
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    "round": 0,
    "ok": true,
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    "round": 1,
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  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
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 }
}