| { |
| "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" |
| } |
|
|
