{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "dexhand/usb_plug_insert",
 "suite": "dexhand",
 "base": "dexhand-usb-plug-insert-i00",
 "title_zh": "将USB插头插入集线器",
 "summary_zh": "右手先将侧躺的USB-A插头夹持抬离桌面，再以正确极性插入集线器最右第4口，松手后满足就位与低速条件连续50个控制步，且全程不触发失败约束。",
 "embodiment_zh": "两种模式均为固定式天机Marvin机器人，双7关节机械臂、每腕一只灵巧手；仅右臂和右手执行，左臂停放、左手张开，基座固定。末端可为Sharpa Wave灵巧手（默认，22指关节执行器）或Wuji Hand 2.2灵巧手（20执行器），每回合仅用一种手型，任务和判据相同。",
 "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,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "总览中右手夹住黑色插头并使其离开桌面：拇指和至少另一根手指接触插头刚性部分，插头除右手外不接触任何物体，金属壳尖端原点达到 z≥0.73 m（桌面上方30 mm）；仍侧躺桌面、只碰电缆或仅单指接触均未完成，视频叠字阶段由0变为1可佐证。",
    "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夹住USB-A插头的金属壳、塑料外壳或应力释放段；不限定必须食指。"
     }
    ],
    "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/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:101-119",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:266",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/e893d23529/scene.py:180-200",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:55-64",
     "inputs/oracle/replay.mp4 @ 0.0、5.5、6.0 s"
    ],
    "conf": 7,
    "note_zh": "文本明确要求并独立验收的抬起状态，允许握持暂停，按受评拿起例外保留；stage=1为历史必经成果，故用event且标goal。此后不要求一直高于0.73 m；朝上旋转属于下一步插入的极性验收。"
   },
   {
    "id": "plug_seated_port4",
    "zh": "插入第四口",
    "mode": "state",
    "when": null,
    "after": [
     "plug_lifted"
    ],
    "hold_s": 0,
    "goal": true,
    "freeze_held": false,
    "criterion_zh": "近景中黑色USB-A插头进入黑色四口集线器最右侧第4口（局部x=+33 mm），极性面朝上且手已离开插头、电缆和集线器；必须同时满足尖端深度≥10.8 mm、横向偏差绝对值≤0.6 mm、竖向偏差绝对值≤0.5 mm、轴夹角≤5°、顶面夹角≤20°、插头质心线速度≤0.01 m/s，连续50个控制步（标称1 s）。插错口、露出过多金属壳、仍接触手或抖动均未完成，已达成后脱出或接触恢复则失去；本视频末尾叠字Stage 3/3、released hold 50/50和PASS佐证验收，亚毫米误差被遮挡时不能单凭轮廓确认。",
    "step": {
     "cat": "关系",
     "item": "插入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "右手拇指与另一手指握住USB-A插头壳体，将插头送入第4口；之后松开并移开，松手为验收而非同时接触。"
     },
     {
      "who": "手指/夹爪",
      "how": "推/扫",
      "plan": 2,
      "note_zh": "右手先按前一步夹持抬起插头并导入端口，再用右手指尖抵住插头外壳后端推到位，最后离开插头及电缆；抓持和推入依次发生。"
     }
    ],
    "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:172-198",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:201-228",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:265-279",
     "inputs/grader/efe_dexhand-files/privileged/environment/assets/usb_scene.json:81-92",
     "inputs/oracle/replay.mp4 @ 24.0、26.0、27.0 s"
    ],
    "conf": 6,
    "note_zh": "对准、翻正、插入、松手和静置合为插入结果的验收，不照抄三个原生阶段建三个节点；四口编号从1开始，代码target_port=3从0开始。hold_s=0：验收明确采用检查器released_hold_controls≥50，不另叠加时间窗；目前无日志，when保持null。设置freeze_held=false，避免重新接触插头时冻结已达成的验收状态；state不以after门控，顺序由原生阶段保证。"
   }
  ],
  "constraints": [
   {
    "id": "robot_collision",
    "zh": "非工作手碰撞",
    "never": null,
    "criterion_zh": "任一机械臂连杆、支架、躯干或停放的左手与任何物体发生有效物理接触即失败，包括桌面、地面、任务物体、工作右手及其他机器人部件；只有工作右手可以接触桌面和任务物体。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:122-141",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-116",
     "inputs/task/privileged/instruction.md:12-14"
    ]
   },
   {
    "id": "plug_below_counter_top",
    "zh": "插头低于桌面",
    "never": null,
    "criterion_zh": "插头金属壳尖端原点的世界z<0.685 m（桌面0.70 m减15 mm）即失败，不是按外壳最低点判断。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:142-143",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:278"
    ]
   },
   {
    "id": "hub_below_counter_top",
    "zh": "集线器低于桌面",
    "never": null,
    "criterion_zh": "集线器刚体原点的世界z<0.70 m即失败；这是评分器额外的独立失效检查。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:144-145",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:14"
    ]
   },
   {
    "id": "object_left_workspace",
    "zh": "物体离开工作区",
    "never": null,
    "criterion_zh": "插头尖端原点或集线器刚体原点任一坐标超出x∈[0.25,1.15] m、y∈[-0.40,0.95] m、z∈[0.685,1.10] m即失败，边界值允许。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:146-148",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:253-264"
    ]
   },
   {
    "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位移>0.020 m即失败；视频可见黑色集线器被拖离起始桌边位置，但精确位移需状态数据。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:74",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:275"
    ]
   },
   {
    "id": "hub_tipped",
    "zh": "集线器倾斜",
    "never": null,
    "criterion_zh": "集线器局部顶面法线与世界竖直方向夹角>20°即失败，按世界竖直而非相对初始姿态计算。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:276"
    ]
   },
   {
    "id": "cable_end_off_counter",
    "zh": "线缆远端下落",
    "never": null,
    "criterion_zh": "远端USB-B插头刚体原点世界z<0.65 m（桌面下方超过50 mm）即失败；需区分线缆中段下垂和远端插头下落。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:153-154",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:277"
    ]
   },
   {
    "id": "plug_dropped",
    "zh": "插头掉落",
    "never": null,
    "criterion_zh": "已经完成抬起阶段后，在某控制步插头和电缆均无手接触，且插头不与任一端口形成尖端深度≥3 mm、横向和竖向偏差绝对值均≤4 mm的接合，同时插头质心竖直速度<-0.2 m/s或刚性插头接触桌面/地面，即立即失败；没有防抖或补救窗口。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:172-184",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:272",
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:279"
    ]
   },
   {
    "id": "unstable_physics",
    "zh": "物理失稳",
    "never": null,
    "criterion_zh": "任一物理子步出现MuJoCo BADQPOS、BADQVEL、BADQACC警告，或关节位置出现非有限数，即以unstable_physics失败。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:102-110"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "plug_lift_completed",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171,230；需逐控制步记录Checker.features().lift_step或stage及刚性插头手指接触、其他接触和尖端高度；本任务未提供状态日志。"
   },
   {
    "atom": "plug_seated_released_port4",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:185-198,209-228；需记录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、released_hold_controls；以第4口就位且释放计数≥50验收。"
   },
   {
    "atom": "checker_success",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:232；需记录基准检查器逐帧success（不是外部交付判决）。"
   },
   {
    "atom": "checker_failure",
    "level": "new_code",
    "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:233-234；需逐控制步及终止子步记录failure和failure_detail，覆盖全部约束；失稳来自inputs/grader/efe_dexhand-files/privileged/environment/variants/4b30501d99/runtime.py:104-109。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "plug_tip_z_at_lift",
   "unit": "m",
   "threshold": 0.73,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:164-171",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:14",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:266"
   ]
  },
  {
   "name": "target_depth_fraction",
   "unit": "",
   "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/ccb1b8661e/task.json:267",
    "inputs/grader/efe_dexhand-files/privileged/environment/assets/usb_scene.json:92"
   ]
  },
  {
   "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/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:268"
   ]
  },
  {
   "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/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:269"
   ]
  },
  {
   "name": "axis_error_deg",
   "unit": "deg",
   "threshold": 5,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:84",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:270"
   ]
  },
  {
   "name": "polarity_error_deg",
   "unit": "deg",
   "threshold": 20,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:85-97",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:271"
   ]
  },
  {
   "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/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:273"
   ]
  },
  {
   "name": "released_hold_controls",
   "unit": "control",
   "threshold": 50,
   "direction": "higher_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:195-198",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:274"
   ]
  },
  {
   "name": "hub_displacement_m",
   "unit": "m",
   "threshold": 0.02,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:149-150",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:275"
   ]
  },
  {
   "name": "hub_tilt_deg",
   "unit": "deg",
   "threshold": 20,
   "direction": "lower_better",
   "sources": [
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/112500031b/checker.py:151-152",
    "inputs/grader/efe_dexhand-files/privileged/environment/variants/ccb1b8661e/task.json:276"
   ]
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json的logs为空，成功参考轨迹也无状态日志；依暂行DECISIONS.md P8，所有节点when、约束never和success均为null。拟新增日志字段写入atoms，不能假定Session.features()输出已经被逐帧记录；视频无法可靠分辨亚毫米位置误差或速度阈值。",
  "评分器要求，文本未提：集线器刚体原点z<0.70 m也立即失败（checker.py:144-145），独立于工作区下界0.685 m；已保留hub_below_counter_top约束（暂行DECISIONS.md N1）。",
  "两模式世界状态判据一致（standard的checker.py、runtime.py与privileged对应文件逐字相同），交付判定方式不同：privileged/tests/grade.py:85-124要求两次新进程回放成功且最终状态哈希相同，standard/tests/grade.py:22-29采信可信服务的最终实时回合。交付有效性与确定性不构造成世界状态步骤或原子条件。",
  "暂行DECISIONS.md N2：本任务仅有这一条目录成功轨迹，因无其他成功可用而采用同时待标注的a7xp8ho作为参考；只借用其几何与可见线索，不将特定捏持姿态、腕部补偿或控制脚本顺序设为必经。"
 ],
 "conf": 6,
 "conf_reason_zh": "两个步骤均来自文本，抬起阈值、端口几何、极性、释放计数及失败条件均有检查器和配置依据；初态与阶段先后经代码和成功视频核实。没有状态日志，无法执行数值重放一致性检验，近景也不足以独立量测亚毫米容差，因此整体置信度为6。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "文本步骤为“拿起插头、旋转并插入第4口、松手”，DAG用拿起与插入第4口两个节点，旋转与松手已折入插入的判据；约束覆盖评分器全部失败条件，无状态日志故when/never/success为null符合P8。未发现需修改的内容。",
    "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：['plug_lifted', 'plug_seated_port4']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
  "engine": "codex",
  "model": "gpt-6.1-sol",
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  "created": "2026-10-29T10:31:04Z",
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