Download eval/db_h3_inputs/runtime/train_01_knife.json from RLWRLD/DexBench-eval: direct link, hf CLI and curl.
- Browser
- Download file 47.6 kB
-
https://huggingface.co/datasets/RLWRLD/DexBench-eval/resolve/main/eval/db_h3_inputs/runtime/train_01_knife.json
- Command line
-
hf download hf://datasets/RLWRLD/DexBench-eval/eval/db_h3_inputs/runtime/train_01_knife.json
-
curl -L -o train_01_knife.json https://huggingface.co/datasets/RLWRLD/DexBench-eval/resolve/main/eval/db_h3_inputs/runtime/train_01_knife.json
47.6 kB
| { | |
| "format": "dexbench_h3_runtime_v2", | |
| "trio": "train_01", | |
| "target": "knife", | |
| "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, | |
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| "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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| "head_direction_basis": "Collision end width (fork/spoon), end thickness (knife); preview review required", | |
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| { | |
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| "id": "nvidia_kitchenware_spoon_b01", | |
| "type": "spoon", | |
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| "head_direction_basis": "Collision end width (fork/spoon), end thickness (knife); preview review required", | |
| "mass_kg": 0.01909830843268887, | |
| "mass_policy": "uniform-density closed-mesh estimate; 8000 kg/m3", | |
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| ], | |
| "starts": [ | |
| { | |
| "id": "KFS_packed1_expose_knife_+10_axial200_reach024_open120_seed2027011234_heading-0100_broll-0050_depth030_curl020", | |
| "state": "../states/0030c2800b3e60ad22a66e118f57e0c024d5b3c0d7a6a397e3ad8a1334704861.yaml", | |
| "state_sha256": "0030c2800b3e60ad22a66e118f57e0c024d5b3c0d7a6a397e3ad8a1334704861", | |
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| "left_arm_6": 2.2599287033081055, | |
| "left_index_finger_mcp_flex": 0.9500000000000001, | |
| "left_index_finger_mcp_abd": 0.00016406993963755668, | |
| "left_index_finger_pip": 1.45, | |
| "left_index_finger_dip": 0.75, | |
| "left_middle_finger_mcp_flex": 0.9500000000000001, | |
| "left_middle_finger_mcp_abd": 2.6393802727397997e-05, | |
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| "left_ring_finger_mcp_flex": 0.9500000000000001, | |
| "left_ring_finger_mcp_abd": 7.227983587654307e-05, | |
| "left_ring_finger_pip": 1.45, | |
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| "left_thumb_cmc_flex": 0.9939638555049897, | |
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| "left_thumb_ip": 0.7234994173049927, | |
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| "right_index_finger_mcp_flex": 9.040873827359519e-09, | |
| "right_index_finger_mcp_abd": 1.7073105151865775e-09, | |
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| "right_middle_finger_mcp_flex": 8.621751312887227e-09, | |
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| "right_pinky_pip": 1.384459102915514e-09, | |
| "right_pinky_dip": 1.768129809232022e-10, | |
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| }, | |
| "target": "knife", | |
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| }, | |
| { | |
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| "state_sha256": "030aa453a877f7a738724796ade1ee361a2a3bbe097545e24a513837b95e6b22", | |
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| "left_index_finger_pip": 1.4300000000000002, | |
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| "left_middle_finger_mcp_flex": 0.93, | |
| "left_middle_finger_mcp_abd": 2.6393802727397997e-05, | |
| "left_middle_finger_pip": 1.4300000000000002, | |
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| "left_pinky_mcp_flex": 0.93, | |
| "left_pinky_mcp_abd": 7.629538304172456e-05, | |
| "left_pinky_pip": 1.4300000000000002, | |
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| "left_ring_finger_mcp_flex": 0.93, | |
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