Datasets:
File size: 2,024 Bytes
f517c0e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 | {
"suite": "dexhand",
"task": "usb_plug_insert",
"family": "usb_plug_insert",
"source": "oracle",
"renderer": "Blender 4.5.3 LTS Cycles path tracing, OptiX on an RTX 4090, adaptive sampling (threshold 0.01, 64-192 spp), OpenImageDenoise with albedo and normal passes, AgX Medium High Contrast; studio floor, key/top/rim area lights and a dim sky dome; render 2560x1440; every frame is the exact pose sample recorded from the task's own replay.py (MuJoCo 3.4.0, 120 Hz simulated-time grid, nearest sample, no interpolation)",
"rendering": "path-tracing",
"width": 2560,
"height": 1440,
"fps": 30,
"frames": 666,
"duration_s": 22.2,
"speed": 1.5,
"success_check": true,
"success_check_how": "verdict of the task's own tests/replay.py (the verifier's replay: fresh Session, frozen instance, fail-fast checks every physics substep) run on the oracle archive written by solution/oracle.py in the pinned grader image while the poses were recorded: success=True, reason='success'; a second, unrecorded replay in a fresh process ended in the same state hash",
"replay": {
"hand": "sharpa",
"n_actions": 1595,
"sim_steps": 1475,
"physics_steps": 14750,
"sim_time_s": 29.5,
"state_sha": "c18aa345626c7752fdbcea593086867c0cc2b06c7320996c1c709af4695d265c",
"state_sha_unrecorded_replay": "c18aa345626c7752fdbcea593086867c0cc2b06c7320996c1c709af4695d265c",
"trajectory_sha256": "b33af3052c7f3fa95fbe09c48b4a3e5888f1f961a201ae85b7c791cdff1273f4",
"task_dir": "tasks/dexhand-usb-plug-insert-i00-privileged (PR #241)"
},
"holds": {
"start_s": 1.0,
"end_s": 1.5,
"note": "first and last recorded states held; the camera keeps moving, no extra simulation"
},
"camera": {
"az_deg": 68.7,
"el_deg": 30,
"lens_mm": 50,
"orbit_deg": 10.0,
"fill": 0.8,
"target": [
0.8568,
-0.2283,
0.8624
],
"distance_m": 2.4359
},
"poster_frame": 665,
"image": "eai-dexhand:0.2.0@sha256:0d42994b83d95ab5301c592b35586550c9ee426490115e4b43f3b8cf8cc43350",
"created": "2026-10-17T13:25:03Z"
}
|