{
 "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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  "created": "2026-10-29T11:15:44Z",
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