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{
  "format": "dexbench_h3_runtime_v2",
  "trio": "train_03",
  "target": "fork",
  "cell": "train",
  "support_hand_profile": {
    "friction": 1.1,
    "stiffness": 8.0,
    "damping": 0.3,
    "effort_limit_nm": 0.25,
    "preload_rad": 0.003,
    "travel_rad": 0.75,
    "anchor_to_reset": true,
    "rolling_friction_m": 0.006
  },
  "adaptive_support_profile": {
    "hold_preload_rad": 0.001,
    "opening_resistance_rad": 0.04,
    "opening_follow_rate_rad_s": 0.04,
    "target_opening_scale": 0.25,
    "slip_speed_m_s": 0.01,
    "full_slip_speed_m_s": 0.06,
    "rearrangement_margin_m": 0.008,
    "escape_margin_m": 0.09,
    "max_extra_preload_rad": 0.02,
    "tighten_rate_rad_s": 0.06,
    "relax_rate_rad_s": 0.015,
    "filter_seconds": 0.06,
    "proximity_m": 0.025,
    "target_protection_m": 0.01
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  "gravity_m_s2": [
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      "mass_kg": 0.03678693806078552,
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      }
    },
    {
      "object_name": "cutlery_01",
      "id": "PalatialSim_D00052",
      "type": "knife",
      "usd_path": "object_library/butter_knife_d00052/usd/butter_knife_d00052.usd",
      "sha256": "1ace69a341cea67bf84cc93a0121f51393a230513bb7b74c7a8b3a5cad066f97",
      "repo": "PalatialSim/palatial-nv-asset-library",
      "revision": "69a87329036cec0440403351c12230970c4e67d8",
      "source_prim": "/World",
      "required_variants": {},
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      "head_direction_basis": "Collision end width (fork/spoon), end thickness (knife); preview review required",
      "files": {
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      }
    },
    {
      "object_name": "cutlery_02",
      "id": "nvidia_kitchenware_spoon_d01",
      "type": "spoon",
      "usd_path": "object_library/kitchenware_spoon_d01/usd/kitchenware_spoon_d01.usd",
      "sha256": "031c65aa9c2549964b68fafdfb1451b73cf4c221d0623ba05ff784ac914062a8",
      "repo": "nvidia/simready-assets",
      "revision": "653d91e182011f357cf1644013cc94ddf194d349",
      "source_prim": "/RootNode",
      "required_variants": {},
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