| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robotwin-2/hanging_mug", |
| "suite": "robotwin-2", |
| "base": "robotwin_2_0_hanging_mug", |
| "title_zh": "转放并悬挂杯子", |
| "summary_zh": "杯子位于杯架横杆处，杯柄功能点与杯架中点的世界坐标横向误差各小于0.02米、高度大于0.86米，且右夹爪打开。", |
| "embodiment_zh": "两个模式均为ALOHA-AgileX双臂机器人，左右臂各配二指夹爪；桌前固定工作位置，任务不需要底盘移动。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robotwin_2_0_hanging_mug", |
| "bench": "robotwin-2", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "mug_turned_on_table", |
| "zh": "杯子转放桌中", |
| "level": "semantic", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": false, |
| "criterion_zh": "黑色杯子相对初态已转向，并放在两臂之间的桌面中部，杯底由桌面承托且左夹爪已松开；俯视和正面视图可见杯子离开起始左侧位置、杯柄方向改变（成功视频约8至11秒）。仅在空中经过桌中、仍被夹持或仍在起始左侧都未完成；不要求复现示范的具体转角或坐标。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "典型方案为左臂二指夹爪抓住杯身，转向后放到桌面中部并松开。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-4", |
| "inputs/task/standard/instruction.md:3-4", |
| "inputs/task/privileged/solution/oracle_hanging_mug.py:59-86", |
| "inputs/oracle/replay.mp4 @ 0.0 s, 8.0-11.0 s", |
| "inputs/oracle/run.json:steps[id=38]" |
| ], |
| "conf": 6, |
| "note_zh": "文本明确要求的中间放置，不受评分，故保留为非目标事件；转向是此次放置的姿态要求，拿起、搬运、再抓取不另拆节点。中间位置与转角没有通用数值容差，以视频判定，不借用参考脚本或该成功轨迹的数值。" |
| }, |
| { |
| "id": "mug_on_rack", |
| "zh": "杯子挂上架", |
| "level": "semantic", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "黑色杯子移到灰色杯架的横杆处，杯柄环与横杆套挂位置对齐，右夹爪打开；以杯柄功能点相对架基点与横杆端功能点中点的世界坐标误差验收：x、y各严格小于0.02米，杯柄功能点高度严格大于0.86米，右夹爪归一化开度命令严格大于0.8（特权模式按两指驱动目标中较小值）。俯视、正面和腕部视图联合查看杯柄与杆的位置；杯子落回桌面、偏离上述范围或右夹爪重新闭合即失去，不另要求支承接触、静止时长或左夹爪脱离。", |
| "step": { |
| "cat": "关系", |
| "item": "穿绕" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "典型方案为右臂二指夹爪抓住杯身，将杯柄套到杯架横杆处后打开夹爪。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-4", |
| "inputs/task/standard/instruction.md:3-4", |
| "inputs/task/privileged/instruction.md:9-16", |
| "inputs/task/privileged/environment/rcb_traj.py:283-315", |
| "inputs/grader/efe_robotwin-2-files/sim/server.py:169-172", |
| "inputs/oracle/replay.mp4 @ 16.0-19.8 s" |
| ], |
| "conf": 7, |
| "note_zh": "按文本命名悬挂关系，按评分器位置与开爪条件验收。评分器不核实横杆实际承重，也不排除左夹爪持杯，因此不追加真实承重或双手脱离条件，并设freeze_held=false。中间放置不是到达悬挂几何位置的物理必要条件，评分器也无阶段顺序，所以不加after边。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "mug_middle_placement", |
| "level": "new_code", |
| "source": "待记录杯子初始及逐帧位姿、桌面支承与夹爪接触：env.mug.get_pose()及接触信息；中间范围和转角文本未量化，当前由视频判断。" |
| }, |
| { |
| "atom": "mug_handle_rack_alignment", |
| "level": "new_code", |
| "source": "待记录env.mug.get_functional_point(0)[:3]、env.rack.get_pose().p及env.rack.get_functional_point(0)[:3]；inputs/task/privileged/instruction.md:9-16。" |
| }, |
| { |
| "atom": "right_gripper_opening", |
| "level": "new_code", |
| "source": "待记录特权模式Session.gripper_opening(\"right\")[0]，标准模式robot.right_gripper_val；inputs/task/privileged/environment/rcb_traj.py:283-315、inputs/grader/efe_robotwin-2-files/sim/server.py:169-172。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "mug_handle_abs_dx", |
| "unit": "m", |
| "threshold": 0.02, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "mug_handle_abs_dy", |
| "unit": "m", |
| "threshold": 0.02, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "mug_handle_z", |
| "unit": "m", |
| "threshold": 0.86, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "right_gripper_opening", |
| "unit": "1", |
| "threshold": 0.8, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "文本步骤未受评：转向并把杯子放到桌面中间，以及左臂操作后改用右臂的流程均未被check_success追踪（N1）。保留“杯子转放桌中”为goal=false、when=null的事件；转向没有独立目标方向，合入中间放置验收，不拆成额外节点（S8）。中间放置并非挂架的物理必要条件，评分器无阶段顺序，故不强加after边；直接挂架可以通过评分但跳过文本步骤。", |
| "任务设计问题：评分器仅检查杯柄功能点位置、高度与右夹爪打开，不检查横杆穿过杯柄、真实支承接触或左夹爪释放，因此通过评分不一定等于杯子真实悬挂；按文本命名、按现有评分器验收，不增加未评分的受力条件（D1、S9）。", |
| "任务文本未给“桌面中间”的区域容差或必须旋转的角度；参考脚本的middle_pos与本次成功轨迹的中间目标不同，均不作为通用阈值，仅用转向后在两臂之间桌面落放的视觉判据。", |
| "inputs/states/index.json中logs为空，无状态日志可绑定或自检；全部节点when及success均为null（P8），atoms列出未来需记录的世界状态。成功视频末段右腕遮挡杯柄，无法单凭画面精确量测2厘米与0.86米边界。", |
| "模式差异：两模式共用相同任务几何与0.8开爪阈值；特权模式按两指驱动目标的较小归一化值判开爪，标准模式按服务设置的夹爪命令判开爪。特权评分还要求默认两次相同轨迹回放全部成功、末态哈希一致；标准模式评实时单次场景，在调用末检查并于成功终止。回放可复现性与服务有效性不属于世界状态步骤。", |
| "输入未单独提供envs/hanging_mug.py任务模块，成功谓词依据特权instruction.md:9-16的完整代码引文及标准instruction.md:4的同义说明，并由本地Session与服务代码确认调用链；没有运行任务或从外部补取源码。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "两个步骤来自文本，初态和典型完成外观已核对成功视频，目标阈值及两模式夹爪定义有本地代码依据；但无状态日志，桌中放置无量化验收且不受评分，悬挂末段有遮挡，无法完成状态绑定或逐轨迹一致性自检。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "文本三个动作（左臂拿起、转向放桌中、右臂挂架）合并为两个步骤合理：桌中放置为非目标事件，挂架节点涵盖评分器全部合取（x、y<0.02、z>0.86、右爪开>0.8），阈值与check_success一致。无状态日志，when=null、success=null符合P8；文本/评分差异已列入open_questions_zh。未发现需修改内容。", |
| "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：['mug_turned_on_table', 'mug_on_rack']" |
| ] |
| }, |
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| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:15:44Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", |
| "calls": [ |
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| "round": 0, |
| "ok": true, |
| "space": "work/tasks/robotwin-2__hanging_mug/01_dag" |
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| "stage": "dag_review", |
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| "ok": true, |
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| "review_engine": "claude", |
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| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
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