Create a task

A task is a funded bounty. The USDC you escrow on Arc is what operators are paid from, one accepted run at a time, each payout final in the block that records the run.

Definition

Scan the real tableOptional. Photograph the bench with a sheet of A4 on it and the task is measured from reality: the object starts where it really stands, and a run is scored against where its target really is. The positions go on chain in the instruction, so anyone can check them.

Arm

Runs are recorded in the chosen arm’s own joints, so a corpus never mixes two machines. An SO-101 task is always one arm. The SO-101, drivable →

Object to move

The payload the operator picks up. This is the model the station loads — the preview is the asset itself, not a picture of it.

Landmark

Where it has to end up. The datum circle is placed on this, and the operator sees it in the scene.

InstructionOn chain as Put the toothpaste into the drawer [arm so101]

Or say it another way

Each one is composed from the objects above and checked against the parser that builds the scene — the label on the right is the manipulation the app will read back from it.

Written from the two objects above. Edit the wording if it matters, but keep both names in it — the station reads them back to build the scene.

SlotsHow many accepted runs this task collects.Reward per run

USDC

Paid at a perfect score, scaled down by the measured quality.

Deadline

closes in 7 days — you can reclaim after that

After this you can close the task and take back whatever was never paid out. Without a deadline, you can reclaim only once all slots fill.Room

Where the task happens, and what the station will actually draw. This is the scenario index the contract stores, so the room is recoverable from chain state alone — coverage across rooms is what makes the dataset generalise.Difficulty

Sets the par time the efficiency score is measured against — 2:09.0.

Escrow

To escrow now0.5USDC10 runs × 0.05 USDC

Your USDCno wallet connectedreading the cap…

Before you sign

The escrow is a ceiling, not a price. A run is paid the reward scaled by its score, so only a run scoring 100.00 draws the full 0.05 USDC.
Reclaim unspent escrow after the deadline or when all slots fill. A task with a deadline can be closed by its funder once it passes or all slots fill, and closeTask returns whatever was never paid out — including the difference between the ceiling and what runs actually score. Only you, after expiry or full completion, and only once. Read the contract at /contracts.

Two signatures: a USDC approval for exactly the escrow (skipped when one already covers it), then the post. Keep extra test USDC in your wallet for gas; escrow does not cover transaction fees.

Or post it without gas

The 0.5 USDC still comes from your wallet on Arc, but you sign instead of sending: no approval and no gas. Works everywhere this app runs.

Read this task's noncewaiting:
ThenarProtocol.taskNonce hashes your address with every parameter of the task, so the signature below is good for exactly this task and cannot fund a different one.
Sign a USDC authorisationwaiting:
Your wallet signs Circle's ReceiveWithAuthorization (EIP-3009): USDC from you to the protocol, this amount, this nonce. A signature, not a transaction: no gas, nothing moves yet.
The relayer posts itwaiting:
Thenar's relayer calls createTaskWithAuthorization and pays the gas in USDC. The protocol pulls the escrow from your wallet in that same call, and the task is final the moment it lands.