{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/essential_cube_reorient",
 "suite": "dexhand",
 "base": "dexhand-essential-cube-reorient-i00",
 "title_zh": "固定手腕球体重定向",
 "summary_zh": "固定手腕且全程保持手与球接触、不借外部支撑，依次达到掌局部 Y 轴正转90度、再绕 X 轴正转90度和恢复初始朝向的检查点，最后双指低速稳住达到保持要求。",
 "embodiment_zh": "两种模式均为固定六自由度腕定位台上的一只右手灵巧手，无移动底盘；可使用Sharpa Wave 灵巧手（22个独立手指执行器）或 Wuji Hand 2.2 灵巧手（20个），每回合只用一只手，成功参考使用 Sharpa 手。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "dexhand-essential-cube-reorient-i00",
  "bench": "dexhand",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "sphere_first_orientation",
    "zh": "球达首轴朝向",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "总览中白色灵巧手指间的蓝色球由手指滚动，红、绿、橙色方向标记相对固定手掌达到绕掌局部 Y 轴正转 90°的布局（相对重置后朝向，cube_error_1 在 0 至 0.16 rad 内）；2 至 5 个不同指尖垫接触球且各接触力大于 0.01 N，物体各自由度最大绝对速度不超过 0.25（平移 m/s、转动 rad/s），连续 5 个 0.02 s 控制样本且每个样本全部 2 ms 子步均满足后完成。仅手指换位、球位置移动或短暂转过目标都不算；标记遮挡时不能仅凭蓝色轮廓判定朝向，完成后允许继续转离此姿态。",
    "step": {
     "cat": "位姿",
     "item": "调整位姿"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "手内调整",
      "note_zh": "右手灵巧手的多个手指持续接触并滚动蓝色标记球，在检查点由至少两个指尖垫稳住；不限定拇指、食指或中指组合。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:1-14",
     "task/privileged/environment/instance.json:95-112",
     "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:93-116",
     "grader/efe_dexhand-files/privileged/environment/checker.py:118-147",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:332-374",
     "oracle/replay.mp4:0.00-5.96 s (overview)"
    ],
    "conf": 6,
    "note_zh": "目标是自由标记球的朝向，类型为位姿·调整位姿，手内调整只作接触标签；不指定手指组合或控制路径。使用评分器已接受的历史检查点语义，原生 stage_index 达到对应阶段后锁存，继续旋转不丢失。保持由原生计数验收，hold_s 为 0，避免重复计时；无状态日志故 when 为 null。"
   },
   {
    "id": "sphere_second_orientation",
    "zh": "球达次轴朝向",
    "mode": "event",
    "when": null,
    "after": [
     "sphere_first_orientation"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "首检查点完成后，蓝色球的方向标记相对手掌达到从首轴目标再绕掌局部 X 轴正转 90°的布局，目标旋转为 Rx(pi/2)Ry(pi/2)，cube_error_2 在 0 至 0.16 rad 内；2 至 5 个不同指尖垫以大于 0.01 N 的接触力触球、最大绝对自由度速度不超过 0.25（平移 m/s、转动 rad/s），连续 5 个 0.02 s 控制样本且全部 2 ms 子步合格后完成。球仍在首轴朝向、未先通过首检查点、只是平移或未稳住均不算；总览内小标记遮挡时需可辨标记的画面或原生阶段证据，完成后允许转离。",
    "step": {
     "cat": "位姿",
     "item": "调整位姿"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "手内调整",
      "note_zh": "右手灵巧手的多个手指持续接触并滚动蓝色标记球，在检查点由至少两个指尖垫稳住；不限定拇指、食指或中指组合。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:1-14",
     "task/privileged/environment/instance.json:113-130",
     "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:93-116",
     "grader/efe_dexhand-files/privileged/environment/checker.py:118-147",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:332-374",
     "oracle/replay.mp4:0.00-5.96 s (overview)"
    ],
    "conf": 6,
    "note_zh": "目标是自由标记球的朝向，类型为位姿·调整位姿，手内调整只作接触标签；不指定手指组合或控制路径。使用评分器已接受的历史检查点语义，原生 stage_index 达到对应阶段后锁存，继续旋转不丢失。保持由原生计数验收，hold_s 为 0，避免重复计时；无状态日志故 when 为 null。"
   },
   {
    "id": "sphere_initial_orientation",
    "zh": "球回初始朝向",
    "mode": "state",
    "when": null,
    "after": [
     "sphere_second_orientation"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "前两个检查点依次完成后，蓝色球的方向标记恢复到重置后相对手掌的初始布局（cube_error_3 在 0 至 0.16 rad 内），先以 2 至 5 个指尖垫接触且速度不超过 0.25 连续通过 5 个控制样本的第三阶段，再以同样朝向和接触条件、速度不超过 0.06 连续保持 25 个额外样本；控制周期 0.02 s，所有 2 ms 子步均须合格，速度的平移单位为 m/s、转动单位为 rad/s。总览可见球在白色手指间停稳，辨明的标记布局与开局一致；开局原姿态不算已返回，未完成有序阶段或末段保持仍未完成，达成后若朝向、双指接触或低速条件失去则不再成立（正常成功即终止）。",
    "step": {
     "cat": "位姿",
     "item": "调整位姿"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "手内调整",
      "note_zh": "右手灵巧手的多个手指持续接触并滚动蓝色标记球，在检查点由至少两个指尖垫稳住；不限定拇指、食指或中指组合。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:1-14",
     "task/privileged/environment/instance.json:131-166",
     "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:93-116",
     "grader/efe_dexhand-files/privileged/environment/checker.py:118-147",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:332-374",
     "oracle/replay.mp4:0.00-5.96 s (overview)",
     "grader/efe_dexhand-files/privileged/environment/checker.py:61-85",
     "task/privileged/environment/instance.json:150-165",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:161-176"
    ],
    "conf": 6,
    "note_zh": "末段保持并入回初始朝向，不另建稳住或保持节点。采用 state 且 freeze_held=false；完整验收包含原生 stage_index=3、terminal_hold>=25 及未失败，开局只有几何朝向成立而有序验收不成立，不从开局计分（DECISIONS.md D7 的原生阶段读法）。after 说明评分器顺序，state 本身不靠边门控；hold_s 为 0，保持由原生计数验收。"
   }
  ],
  "constraints": [
   {
    "id": "excess_contact_force",
    "zh": "接触力越界",
    "never": null,
    "criterion_zh": "任一物体接触的力模长不在 0 至 80 N 内即失败；画面可能出现挤压或冲击，但无法仅凭视频定量判断 80 N。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:8-11",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:203-210",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "object_displaced",
    "zh": "球偏移过大",
    "never": null,
    "criterion_zh": "球心相对手掌的位置偏离重置后值超过 0.07 m 即失败；视频表现为球滑离初始手内区域。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:12-15",
     "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:95-100",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "hand_contact_lost",
    "zh": "球脱离手",
    "never": null,
    "criterion_zh": "球与任一手部连杆之间大于 0.005 N 的接触数少于 1 即失败；球完全离手或掉落后不能在本回合恢复。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:16-19",
     "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:101-113",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "object_height_invalid",
    "zh": "球高度越界",
    "never": null,
    "criterion_zh": "球心世界高度低于 0.18 m 或高于 0.60 m 即失败；桌面为 0.10 m，球落向桌面前即可触发。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:20-23",
     "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:100",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "palm_translated",
    "zh": "手掌平移越界",
    "never": null,
    "criterion_zh": "手掌位置相对重置后漂移超过 0.003 m 即失败；手应固定在台面上方，不能靠整体移动手腕搬动球。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:24-27",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:258-261",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "object_overspeed",
    "zh": "球速度越界",
    "never": null,
    "criterion_zh": "物体任一自由度绝对速度超过 12（平移 m/s、转动 rad/s）即失败；视频中的突然弹飞或急转只能提示，阈值需原生速度证据。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:28-31",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:257",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "external_support",
    "zh": "球借外部支撑",
    "never": null,
    "criterion_zh": "物体与环境的接触力大于 0.01 N 时 support 非零即失败；总览中蓝色球始终悬于桌面上方由手接触，不能碰桌面或固定环境来借力。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:32-35",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:221-241",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "palm_rotated",
    "zh": "手掌转动越界",
    "never": null,
    "criterion_zh": "手掌相对重置后的旋转超过 0.01 rad 即失败；只能动手指，不能靠转腕完成球的目标朝向，六个腕目标须保持文本指定值（允许浮点传输舍入）。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:36-39",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:258-262; grader/efe_dexhand-files/privileged/environment/runtime.py:317-325",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   },
   {
    "id": "invalid_physics",
    "zh": "物理状态无效",
    "never": null,
    "criterion_zh": "任一评分所需物理特征不是有限数，或出现不稳定物理警告时立即失败；视频可能冻结或异常，必须用模拟器诊断确认。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/environment/instance.json:7-40",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:332-348; grader/efe_dexhand-files/privileged/environment/checker.py:101-110",
     "grader/efe_dexhand-files/privileged/environment/runtime.py:352-374",
     "grader/efe_dexhand-files/privileged/environment/checker.py:105-117"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "cube_error_1",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:114-116; add replay logging of native cube_error_1 (no state log supplied)"
   },
   {
    "atom": "cube_error_2",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:114-116; add replay logging of native cube_error_2 (no state log supplied)"
   },
   {
    "atom": "cube_error_3",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:114-116; add replay logging of native cube_error_3 (no state log supplied)"
   },
   {
    "atom": "contacts",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:221-243; add replay logging of native contacts (no state log supplied)"
   },
   {
    "atom": "speed",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:257,350-351; add replay logging of native speed (no state log supplied)"
   },
   {
    "atom": "force",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:203-210,350-351; add replay logging of native force (no state log supplied)"
   },
   {
    "atom": "support",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:221-244; add replay logging of native support (no state log supplied)"
   },
   {
    "atom": "palm_drift",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:261; add replay logging of native palm_drift (no state log supplied)"
   },
   {
    "atom": "wrist_rotation",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:262; add replay logging of native wrist_rotation (no state log supplied)"
   },
   {
    "atom": "object_displacement",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:95-100; add replay logging of native object_displacement (no state log supplied)"
   },
   {
    "atom": "object_height",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:100; add replay logging of native object_height (no state log supplied)"
   },
   {
    "atom": "object_hand_contacts",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/essential_inhand.py:101-113; add replay logging of native object_hand_contacts (no state log supplied)"
   },
   {
    "atom": "stage_index",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/checker.py:118-131; add replay logging of native stage_index (no state log supplied)"
   },
   {
    "atom": "stage_hold",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/checker.py:128-131; add replay logging of native stage_hold (no state log supplied)"
   },
   {
    "atom": "terminal_hold",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/checker.py:132-146; add replay logging of native terminal_hold (no state log supplied)"
   },
   {
    "atom": "failure",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/checker.py:105-126; grader/efe_dexhand-files/privileged/environment/runtime.py:340-348; add replay logging of native failure (no state log supplied)"
   },
   {
    "atom": "window_valid",
    "level": "new_code",
    "source": "grader/efe_dexhand-files/privileged/environment/runtime.py:331-359; add replay logging of native window_valid (no state log supplied)"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "cube_error_1",
   "unit": "rad",
   "threshold": 0.16,
   "direction": "lower_better"
  },
  {
   "name": "cube_error_2",
   "unit": "rad",
   "threshold": 0.16,
   "direction": "lower_better"
  },
  {
   "name": "cube_error_3",
   "unit": "rad",
   "threshold": 0.16,
   "direction": "lower_better"
  },
  {
   "name": "contacts",
   "unit": "fingers",
   "threshold": 2,
   "direction": "higher_better"
  },
  {
   "name": "speed_stage",
   "unit": "m/s or rad/s",
   "threshold": 0.25,
   "direction": "lower_better"
  },
  {
   "name": "speed_terminal",
   "unit": "m/s or rad/s",
   "threshold": 0.06,
   "direction": "lower_better"
  },
  {
   "name": "force",
   "unit": "N",
   "threshold": 80,
   "direction": "lower_better"
  },
  {
   "name": "speed_invariant",
   "unit": "m/s or rad/s",
   "threshold": 12,
   "direction": "lower_better"
  },
  {
   "name": "palm_drift",
   "unit": "m",
   "threshold": 0.003,
   "direction": "lower_better"
  },
  {
   "name": "wrist_rotation",
   "unit": "rad",
   "threshold": 0.01,
   "direction": "lower_better"
  },
  {
   "name": "object_displacement",
   "unit": "m",
   "threshold": 0.07,
   "direction": "lower_better"
  },
  {
   "name": "object_height",
   "unit": "m",
   "threshold": [
    0.18,
    0.6
   ],
   "direction": "target"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json 的日志列表为空，按 DECISIONS.md P8，全部节点 when、约束 never 及 success 均为 null；atoms 列出需新增日志记录的原生特征和阶段计数，未把未记录字段绑定为可检查条件。不能执行基于状态的到达率或评分器一致性验证。",
  "DECISIONS.md D7：恢复的是球的初始朝向，文本明确要求作为第三个检查点；采用包含评分器已按序完成第三阶段和末段保持的完整验收，末节点为 state，开局几何朝向相同并不等于通过第三检查点。首两节点为锁存 event，因为成功时不要求球仍留在中间朝向。",
  "成功参考只有总览视频：白色手指间的蓝色球很小，红、绿、橙色标记常被遮住，不能从轮廓或手指姿态确认精确的90度目标、0.16 rad误差、接触力或2 ms连续满足；需可辨标记的视角或原生物理特征补证，没有据此估计阈值。",
  "两模式冻结实例内容相同且共享物理检查器；特权模式还要求两次新进程回放均成功并且末状态哈希相同（grader/efe_dexhand-files/privileged/tests/grade.py:113-118），标准模式取可信服务最后回合的实时成功（grader/efe_dexhand-files/standard/tests/grade.py:22-29）。这些交付与确定性差异不增设物理步骤，success 在无日志时保持 null。"
 ],
 "conf": 6,
 "conf_reason_zh": "三个步骤、顺序、全部数值阈值和保持计数均有文本及冻结评分器依据，成功视频与手内操作相符；但没有状态日志，总览中方向标记遮挡，无法独立核实每个精确姿态与子步验收。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "三个检查点节点与指令一致，顺序边为评分器阶段顺序；末节点包含第三阶段和25样本末段保持，阈值与指令一致；约束均为评分器失败条件且立即终止；无状态日志，when/success 为 null 且已在 open_questions_zh 说明。未发现需改动之处。",
    "n_issues": 0,
    "n_major": 0
   }
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  "open_zh": []
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  "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：['sphere_first_orientation', 'sphere_second_orientation', 'sphere_initial_orientation']"
  ]
 },
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