Download eval/db_h3_inputs/runtime/train_02_knife.json from RLWRLD/DexBench-eval: direct link, hf CLI and curl.
- Browser
- Download file 49.9 kB
-
https://huggingface.co/datasets/RLWRLD/DexBench-eval/resolve/main/eval/db_h3_inputs/runtime/train_02_knife.json
- Command line
-
hf download hf://datasets/RLWRLD/DexBench-eval/eval/db_h3_inputs/runtime/train_02_knife.json
-
curl -L -o train_02_knife.json https://huggingface.co/datasets/RLWRLD/DexBench-eval/resolve/main/eval/db_h3_inputs/runtime/train_02_knife.json
49.9 kB
| { | |
| "format": "dexbench_h3_runtime_v2", | |
| "trio": "train_02", | |
| "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, | |
| "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, | |
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| "assets": [ | |
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| "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", | |
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| "head_direction_basis": "Collision end width (fork/spoon), end thickness (knife); preview review required", | |
| "mass_kg": 0.024019961444180976, | |
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| { | |
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| "type": "knife", | |
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| { | |
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| "id": "nvidia_kitchenware_spoon_b01", | |
| "type": "spoon", | |
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| "files": { | |
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| "starts": [ | |
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| "left_ring_finger_dip": 0.73, | |
| "left_thumb_cmc_flex": 0.9939638555049897, | |
| "left_thumb_cmc_abd": -0.3313863217830658, | |
| "left_thumb_mcp": 0.8239484810829163, | |
| "left_thumb_ip": 0.7134994173049927, | |
| "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": "knife", | |
| "source_bank_sha256": "3c3ed2eb9558edbc5690b58d6a7ae48e473b725c0fd673f7b49b538862160f88", | |
| "reset_contract_sha256": "626453dab37c3faee36c0770cbf2f7d2bedf2e463d95b8221b7830cccd3d9284" | |
| } | |
| ] | |
| } | |