Download eval/db_h3_inputs/runtime/train_02_fork.json from RLWRLD/DexBench-eval: direct link, hf CLI and curl.
- Browser
- Download file 50 kB
-
https://huggingface.co/datasets/RLWRLD/DexBench-eval/resolve/main/eval/db_h3_inputs/runtime/train_02_fork.json
- Command line
-
hf download hf://datasets/RLWRLD/DexBench-eval/eval/db_h3_inputs/runtime/train_02_fork.json
-
curl -L -o train_02_fork.json https://huggingface.co/datasets/RLWRLD/DexBench-eval/resolve/main/eval/db_h3_inputs/runtime/train_02_fork.json
50 kB
| { | |
| "format": "dexbench_h3_runtime_v2", | |
| "trio": "train_02", | |
| "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 | |
| }, | |
| "gravity_m_s2": [ | |
| 0.0, | |
| 0.0, | |
| -9.81 | |
| ], | |
| "assets": [ | |
| { | |
| "object_name": "cutlery_00", | |
| "id": "nvidia_kitchenware_fork_b01", | |
| "type": "fork", | |
| "usd_path": "object_library/kitchenware_fork_b01/usd/kitchenware_fork_b01.usd", | |
| "sha256": "ac4a326a93bf540040272ca7f2e547aa38f0fe565d3830d0d76d227ec15d8cdb", | |
| "repo": "nvidia/simready-assets", | |
| "revision": "653d91e182011f357cf1644013cc94ddf194d349", | |
| "source_prim": "/RootNode", | |
| "required_variants": {}, | |
| "body_bounds": [ | |
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| "head_direction_basis": "Collision end width (fork/spoon), end thickness (knife); preview review required", | |
| "mass_kg": 0.024019961444180976, | |
| "mass_policy": "uniform-density closed-mesh estimate; 8000 kg/m3", | |
| "files": { | |
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| "deps/kitchenware_fork_b01/simready_usd/payloads/MuJoCo/enabled.usda": "0e837685111a1b6125341b3a064255571c623cf9584555bbe40db9b06b4e3501", | |
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| "deps/kitchenware_fork_b01/simready_usd/payloads/Physics/physics.usda": "71af76ab64a4639973f87c26e77507f8ae20187db71c753fc88be94b648f0e52", | |
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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", | |
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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_b01", | |
| "type": "spoon", | |
| "usd_path": "object_library/kitchenware_spoon_b01/usd/kitchenware_spoon_b01.usd", | |
| "sha256": "ec897f8b7f1a3e09bba1e3ca554df5147a10ada900e6966d23a06b26beb65315", | |
| "repo": "nvidia/simready-assets", | |
| "revision": "653d91e182011f357cf1644013cc94ddf194d349", | |
| "source_prim": "/RootNode", | |
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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", | |
| "files": { | |
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| "deps/kitchenware_spoon_b01/simready_usd/payloads/geometries.usd": "0de259831d2a809da03b7b69d50b3baaa13a3985ca4debd485f2f1700c8bb96e", | |
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| "deps/kitchenware_spoon_b01/simready_usd/sm_kitchenware_spoon_b01_01.usd": "21d8d1e2e01a0e40ede3d1f1ab6b899b500101eecbc79b8c62ffa2d0a9420289", | |
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| } | |
| } | |
| ], | |
| "starts": [ | |
| { | |
| "id": "FSK_stagger_expose_fork_+10_axial250_reach024_open000_seed2026112315_heading+0000_broll+0050_depth050_curl020", | |
| "state": "../states/10a795981d4c10c8dc6c077cb80dc6ecb2f6d70f606a72d0eef2c763865376e0.yaml", | |
| "state_sha256": "10a795981d4c10c8dc6c077cb80dc6ecb2f6d70f606a72d0eef2c763865376e0", | |
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| "left_thumb_cmc_flex": 0.9939638555049897, | |
| "left_thumb_cmc_abd": -0.3313863217830658, | |
| "left_thumb_mcp": 0.8939484810829162, | |
| "left_thumb_ip": 0.7834994173049927, | |
| "right_arm_0": 0.6231457591056824, | |
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| "right_middle_finger_mcp_flex": 8.621751312887227e-09, | |
| "right_middle_finger_mcp_abd": 2.326171255617737e-09, | |
| "right_middle_finger_pip": 1.8900265796872873e-09, | |
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| "right_pinky_pip": 1.384459102915514e-09, | |
| "right_pinky_dip": 1.768129809232022e-10, | |
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| "left_ring_finger_mcp_abd": 7.227983587654307e-05, | |
| "left_ring_finger_pip": 1.4100000000000001, | |
| "left_ring_finger_dip": 0.71, | |
| "left_thumb_cmc_flex": 0.9939638555049897, | |
| "left_thumb_cmc_abd": -0.3313863217830658, | |
| "left_thumb_mcp": 0.8139484810829163, | |
| "left_thumb_ip": 0.7034994173049928, | |
| "right_arm_0": 0.6231457591056824, | |
| "right_arm_1": -0.32677218317985535, | |
| "right_arm_2": 0.010958935134112835, | |
| "right_arm_3": -2.1435041427612305, | |
| "right_arm_4": 0.0347905233502388, | |
| "right_arm_5": 0.026212025433778763, | |
| "right_arm_6": -0.4360685646533966, | |
| "right_index_finger_mcp_flex": 9.040873827359519e-09, | |
| "right_index_finger_mcp_abd": 1.7073105151865775e-09, | |
| "right_index_finger_pip": 1.980383856903245e-09, | |
| "right_index_finger_dip": 2.2562211821064437e-10, | |
| "right_middle_finger_mcp_flex": 8.621751312887227e-09, | |
| "right_middle_finger_mcp_abd": 2.326171255617737e-09, | |
| "right_middle_finger_pip": 1.8900265796872873e-09, | |
| "right_middle_finger_dip": 2.1185818377400523e-10, | |
| "right_pinky_mcp_flex": 6.209929459544128e-09, | |
| "right_pinky_mcp_abd": 2.4604711601483586e-09, | |
| "right_pinky_pip": 1.384459102915514e-09, | |
| "right_pinky_dip": 1.768129809232022e-10, | |
| "right_ring_finger_mcp_flex": 8.002182916300171e-09, | |
| "right_ring_finger_mcp_abd": 2.6761910465467054e-09, | |
| "right_ring_finger_pip": 1.7526403661705103e-09, | |
| "right_ring_finger_dip": 1.993995663029935e-10, | |
| "right_thumb_cmc_flex": 8.022470687762961e-09, | |
| "right_thumb_cmc_abd": -2.950369060172875e-09, | |
| "right_thumb_mcp": 1.8587258399094253e-09, | |
| "right_thumb_ip": 2.8255606188132276e-10, | |
| "wheel_fl": 3.071677951993479e-07, | |
| "wheel_fr": -5.188522663956974e-06, | |
| "wheel_rl": 1.319639977737097e-06, | |
| "wheel_rr": -1.5574356666547828e-06 | |
| }, | |
| "target": "fork", | |
| "source_bank_sha256": "3c3ed2eb9558edbc5690b58d6a7ae48e473b725c0fd673f7b49b538862160f88", | |
| "reset_contract_sha256": "7e798980bf08124f0766cbef316d5b1efcc8a2c2da6b70d87c97bec28b089956" | |
| } | |
| ] | |
| } | |