{ "format": "dexbench_h3_runtime_v2", "trio": "train_01", "target": "spoon", "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": "PalatialSim_D00313", "type": "fork", "usd_path": "object_library/fork_d00313/usd/fork_d00313.usd", "sha256": "cbbd3b73814f7768315bbb824ef3eeaaeb5f9b80f614c72398674397373913a6", "repo": "PalatialSim/palatial-nv-asset-library", "revision": "69a87329036cec0440403351c12230970c4e67d8", "source_prim": "/World", "required_variants": {}, "body_bounds": [ [ -0.08879619841862887, -0.01779985869394243, 6.975049314170145e-11 ], [ 0.1094386999244492, 0.01790673921529245, 0.018972909795848272 ] ], "head_axis_body": [ -0.9999739544848546, 0.0001240193146849174, -0.007216298991284316 ], "width_axis_body": [ -0.0001258953226840154, -0.9999999584012981, 0.0002595144896114561 ], "thickness_axis_body": [ -0.007216266506286491, 0.00026041622871297854, 0.9999739285006877 ], "handle_anchor": [ 0.0598981695928981, 0.00015643172180728897, 0.012062659902369861 ], "handle_section_size": [ 0.049927837447651904, 0.020582727394480936, 0.006433850392458727 ], "head_direction_basis": "Collision end width (fork/spoon), end thickness (knife); preview review required", "files": { "deps/D00313/simready_usd/D00313.usd": "c0fc6aeb67429a44c9a881fe02e536ecc7a51cf1f3137b7b73a166089e8a1338", "deps/D00313/simready_usd/textures/texture_base_color.png": "4cf9edb55b19b7db977e6c6879b99623c0ad928fd2f03842697622eee8d2e2f7", "deps/D00313/simready_usd/textures/texture_metallic.png": "5631d05f0b4dc011670675666a21c2fb61d427ab8ed5639612cf418ee9afc186", "deps/D00313/simready_usd/textures/texture_normal.png": "d55b2c03de519093488b4ee4ee9f354161799571537bc0ca1733c9123df234d2", "deps/D00313/simready_usd/textures/texture_roughness.png": "1cd4767386d043f33ea9a783e1b26add057579cbd1865b4e3a8849244cecb2f5" } }, { "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": {}, "body_bounds": [ [ -0.1210149964914683, -0.015222500217527208, -1.806551123972877e-10 ], [ 0.0885948983595424, 0.011866199863875168, 0.012026700274459505 ] ], "head_axis_body": [ -0.9999794700269495, -0.006407176057988034, -8.729022293905423e-05 ], "width_axis_body": [ 0.00640723642151869, -0.999979221572761, -0.0007097493744035995 ], "thickness_axis_body": [ -8.274091998665746e-05, -0.000710294092363728, 0.9999997443180889 ], "handle_anchor": [ 0.03618899851516814, 0.0002468385852455972, 0.006071362266504769 ], "handle_section_size": [ 0.04991123780007164, 0.019566627756414844, 0.011815567382354465 ], "head_direction_basis": "Collision end width (fork/spoon), end thickness (knife); preview review required", "files": { "deps/D00052/simready_usd/D00052.usd": "eb321ffd7c180523ab47037397289afa04918afb9889d0f29ef70b263ab03d6c", "deps/D00052/simready_usd/textures/texture_base_color.compressed.jpg": "396ef9da72019a5c3ada3b9b7e115748165769b60b3aefa6411118d772465dbc", "deps/D00052/simready_usd/textures/texture_metallic.compressed.png": "3590c6e8f6b5bf2f75db7d14a68defde5d84656e6cebbae29360299f2ff396d3", "deps/D00052/simready_usd/textures/texture_normal.compressed.png": "0b7eeeb8f581dd8e4302f6e50621fcf6d9429f68db4452900e9d6511f70b63f2", "deps/D00052/simready_usd/textures/texture_roughness.compressed.png": "d43976d89e65a983b9df0a4713dd0883e12767ee8b0e871b491de821dba2dfce" } }, { "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", "required_variants": {}, "body_bounds": [ [ -0.017455000583689123, -0.13141299930987665, 0.00017752397272867296 ], [ 0.01745920071782233, 0.05869179973261138, 0.013173200452426672 ] ], "head_axis_body": [ 0.0008036034683648548, 0.9989507297560021, 0.045790760437194405 ], "width_axis_body": [ -0.9999893293405535, 0.0010110647215171155, -0.004507654951204921 ], "thickness_axis_body": [ -0.0045492226254439, -0.045786649452430994, 0.998940882788078 ], "handle_anchor": [ 2.1650314760796086e-05, -0.08388807828882804, 0.003827104706864139 ], "handle_section_size": [ 0.04999562148574193, 0.006758629667755334, 0.002218586140948221 ], "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": { "deps/kitchenware_spoon_b01/simready_usd/Textures/t_spoon_silver_b01_alb.png": "44d9461a9f40ee8f7749495e743813e1fc670089b455dff42972a78cd0dc9bdc", "deps/kitchenware_spoon_b01/simready_usd/Textures/t_spoon_silver_b01_nor.png": "84908b4f65b001a9f3c22807825e5e796c55a11c47b7be12a300643c8bd4225f", "deps/kitchenware_spoon_b01/simready_usd/Textures/t_spoon_silver_b01_orm.png": "a4cb42801972e2795382c224f93f80f58c818447650841a1667deae234c7695f", "deps/kitchenware_spoon_b01/simready_usd/payloads/MuJoCo/disabled.usda": "b1d6db717086ff6a79f537e2420bd821d2b0169fb6c0f2933f79a4a36689f42c", "deps/kitchenware_spoon_b01/simready_usd/payloads/MuJoCo/enabled.usda": "e3d9f2bcb277d792e2f8aa2a1121093f2f065086fca61d7cd09f559b46b68481", "deps/kitchenware_spoon_b01/simready_usd/payloads/Newton/disabled.usda": "b1d6db717086ff6a79f537e2420bd821d2b0169fb6c0f2933f79a4a36689f42c", "deps/kitchenware_spoon_b01/simready_usd/payloads/Newton/enabled.usda": "889b35dfc9d9bba0eafcdaaf3ce0f0d3b245ccbe7309842cdbb2b2799309e4b1", "deps/kitchenware_spoon_b01/simready_usd/payloads/PhysX/disabled.usda": "b1d6db717086ff6a79f537e2420bd821d2b0169fb6c0f2933f79a4a36689f42c", "deps/kitchenware_spoon_b01/simready_usd/payloads/PhysX/enabled.usda": "8a51827e2354ad49efe3f5e0fafe8659ce4f044cab1de2db1122cb3db40a5835", "deps/kitchenware_spoon_b01/simready_usd/payloads/Physics/physics.usda": "1091c3d6ef8b07f52678b342c1c319dc08e83039748d366bf282890cd98452f5", "deps/kitchenware_spoon_b01/simready_usd/payloads/base.usda": "51e954048bffb2dc46c40572e23a5981a22b411746226402edc875c245616162", "deps/kitchenware_spoon_b01/simready_usd/payloads/geometries.usd": "0de259831d2a809da03b7b69d50b3baaa13a3985ca4debd485f2f1700c8bb96e", "deps/kitchenware_spoon_b01/simready_usd/payloads/instances.usda": "99afa9703df7d02177e32715513adbcf8be3391016b11a319f456e378214c9be", "deps/kitchenware_spoon_b01/simready_usd/payloads/instances_mujoco.usda": "914a2aba2069bf0f65dd10f892a9885bf9aff2518c941d328439a692bfa246a4", "deps/kitchenware_spoon_b01/simready_usd/payloads/instances_newton.usda": "66224412b2d0467e4c2ef6fc11d6e03a4e7e454cbc11bcb3e5f0a63b2341ddc3", "deps/kitchenware_spoon_b01/simready_usd/payloads/instances_physx.usda": "0db9580ea153738d756054cfa59ef2ef9d8fe6b2b4d344a73d1dfb61201f3be1", "deps/kitchenware_spoon_b01/simready_usd/payloads/materials.usda": "6ddb3973b3f69adc6937700d95645aa787557a0d55b8e45798ce9784c43a7687", "deps/kitchenware_spoon_b01/simready_usd/sm_kitchenware_spoon_b01_01.usd": "21d8d1e2e01a0e40ede3d1f1ab6b899b500101eecbc79b8c62ffa2d0a9420289", "deps/kitchenware_spoon_b01/simready_usd/source_assets/OmniPBR.mdl": "6e6b3acbccd236e21a6c29964a431d2a53e77251cc6b8b1bc975eb1c62da1781", "deps/kitchenware_spoon_b01/simready_usd/source_assets/OmniPBRBase.mdl": "701f37299b44106842bdbe025de52eedec391e35b038f61c4ed4d25bd98e7db1", "deps/kitchenware_spoon_b01/simready_usd/source_assets/OmniPBR_ClearCoat.mdl": "687fce3f0693146b91495f04407a7c38c78f6b9262b63621f44b4b1f09110469" } } ], "starts": [ { "id": "KFS_packed1_expose_knife_+10_axial200_reach024_open120_seed2027011234_heading-0100_broll-0050_depth030_curl020", "state": "../states/0030c2800b3e60ad22a66e118f57e0c024d5b3c0d7a6a397e3ad8a1334704861.yaml", "state_sha256": "0030c2800b3e60ad22a66e118f57e0c024d5b3c0d7a6a397e3ad8a1334704861", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "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, "left_middle_finger_pip": 1.45, "left_middle_finger_dip": 0.75, "left_pinky_mcp_flex": 0.9500000000000001, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.45, "left_pinky_dip": 0.75, "left_ring_finger_mcp_flex": 0.9500000000000001, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.45, "left_ring_finger_dip": 0.75, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8339484810829162, "left_thumb_ip": 0.7234994173049927, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "2647cc544b729028edbd7fd931d7091ee396abdce687e4d2fbe5953b64272e7b" }, { "id": "KFS_packed1_expose_knife_+10_axial250_reach024_open120_seed2028111266_heading-0100_broll+0050_depth000_curl040__sv2_fork_03ad0687d2", "state": "../states/03ad0687d2a993fb04da40882a975724df465080ca61d4ba72fb1ac3632e35c8.yaml", "state_sha256": "03ad0687d2a993fb04da40882a975724df465080ca61d4ba72fb1ac3632e35c8", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 0.9700000000000001, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.47, "left_index_finger_dip": 0.77, "left_middle_finger_mcp_flex": 0.9700000000000001, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.47, "left_middle_finger_dip": 0.77, "left_pinky_mcp_flex": 0.9700000000000001, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.47, "left_pinky_dip": 0.77, "left_ring_finger_mcp_flex": 0.9700000000000001, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.47, "left_ring_finger_dip": 0.77, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8439484810829162, "left_thumb_ip": 0.7334994173049927, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "ad16df7fb37881155dae36d7a3b0c55ef8ed35804cc7f4ed8d0643126f064dae" }, { "id": "KFS_packed1_expose_knife_+10_axial250_reach020_open120_seed2028111244_heading+0000_broll-0050_depth050_curl020__sv2_fork_03c148d8c3", "state": "../states/03c148d8c347985f1f5774813a0f76ed5eef4f0086f4b8164afea7bdc4063e37.yaml", "state_sha256": "03c148d8c347985f1f5774813a0f76ed5eef4f0086f4b8164afea7bdc4063e37", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "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, "left_middle_finger_pip": 1.45, "left_middle_finger_dip": 0.75, "left_pinky_mcp_flex": 0.9500000000000001, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.45, "left_pinky_dip": 0.75, "left_ring_finger_mcp_flex": 0.9500000000000001, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.45, "left_ring_finger_dip": 0.75, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8339484810829162, "left_thumb_ip": 0.7234994173049927, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "cd2a5b395b6b7abbfe5445c4b8e2c20f7bfe7cf70668c909c7fa7bc7f749b133" }, { "id": "FKS_packed1_expose_fork_+10_axial200_reach020_open180_seed2028611239_heading+0000_broll-0050_depth030_curl020__sv2_spoon_053bd3abd8", "state": "../states/053bd3abd8c11946b7bc41621bbc6c21edb1731f6660e04e3402a91fc8c0eb06.yaml", "state_sha256": "053bd3abd8c11946b7bc41621bbc6c21edb1731f6660e04e3402a91fc8c0eb06", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 0.89, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.3900000000000001, "left_index_finger_dip": 0.69, "left_middle_finger_mcp_flex": 0.89, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.3900000000000001, "left_middle_finger_dip": 0.69, "left_pinky_mcp_flex": 0.89, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.3900000000000001, "left_pinky_dip": 0.69, "left_ring_finger_mcp_flex": 0.89, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.3900000000000001, "left_ring_finger_dip": 0.69, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8039484810829163, "left_thumb_ip": 0.6934994173049928, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "a979180fe292a38138e80b77b1f47b7300a4e8f7418f5c63c4c36e82f95509ca" }, { "id": "FKS_packed1_expose_spoon_+10_axial200_reach028_open000_seed2027111233_heading-0100_broll-0050_depth030_curl020", "state": "../states/0c7bfcf205139d8f9e2620f765e93c3adb822e82782fe19c40a07e3592395374.yaml", "state_sha256": "0c7bfcf205139d8f9e2620f765e93c3adb822e82782fe19c40a07e3592395374", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 1.07, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.57, "left_index_finger_dip": 0.87, "left_middle_finger_mcp_flex": 1.07, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.57, "left_middle_finger_dip": 0.87, "left_pinky_mcp_flex": 1.07, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.57, "left_pinky_dip": 0.87, "left_ring_finger_mcp_flex": 1.07, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.57, "left_ring_finger_dip": 0.87, "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, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "def7499e4f62c3dbee2d31f47422cc98c293669a6ce27b5d440d5029a7114d1d" }, { "id": "FKS_packed1_expose_fork_+10_axial150_reach020_open180_seed2028611299_heading-0100_broll+0000_depth030_curl020__sv2_spoon_186e7c2d6e", "state": "../states/186e7c2d6eda2cc2eb23a645b76ab5952d20380ad2422fcd1d646c4197b9497e.yaml", "state_sha256": "186e7c2d6eda2cc2eb23a645b76ab5952d20380ad2422fcd1d646c4197b9497e", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 0.89, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.3900000000000001, "left_index_finger_dip": 0.69, "left_middle_finger_mcp_flex": 0.89, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.3900000000000001, "left_middle_finger_dip": 0.69, "left_pinky_mcp_flex": 0.89, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.3900000000000001, "left_pinky_dip": 0.69, "left_ring_finger_mcp_flex": 0.89, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.3900000000000001, "left_ring_finger_dip": 0.69, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8039484810829163, "left_thumb_ip": 0.6934994173049928, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "9385a76143d3e35f189e0c9ec54f7dadf6e632457181e066457da27633ae71c1" }, { "id": "KFS_packed1_expose_knife_+10_axial250_reach024_open180_seed2027111314_heading+0000_broll+0050_depth050_curl020__sv2_fork_1e8996010f", "state": "../states/1e8996010ff88d90aca95d67206f6e1f33922ebfe7add0d0c6d9f4427aae8218.yaml", "state_sha256": "1e8996010ff88d90aca95d67206f6e1f33922ebfe7add0d0c6d9f4427aae8218", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 0.89, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.3900000000000001, "left_index_finger_dip": 0.69, "left_middle_finger_mcp_flex": 0.89, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.3900000000000001, "left_middle_finger_dip": 0.69, "left_pinky_mcp_flex": 0.89, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.3900000000000001, "left_pinky_dip": 0.69, "left_ring_finger_mcp_flex": 0.89, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.3900000000000001, "left_ring_finger_dip": 0.69, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8039484810829163, "left_thumb_ip": 0.6934994173049928, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "740a1a41d58cdda5154414881d0c598a0b02fad02c405aa1ab62b535a67ad20f" }, { "id": "FKS_packed1_expose_fork_+10_axial250_reach028_open180_seed2026911319_heading+0000_broll+0050_depth050_curl020", "state": "../states/2641b3dd567dabdbe4254fce1fde170ed72badeab288b21c1c09d4c70beb4d93.yaml", "state_sha256": "2641b3dd567dabdbe4254fce1fde170ed72badeab288b21c1c09d4c70beb4d93", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 0.89, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.3900000000000001, "left_index_finger_dip": 0.69, "left_middle_finger_mcp_flex": 0.89, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.3900000000000001, "left_middle_finger_dip": 0.69, "left_pinky_mcp_flex": 0.89, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.3900000000000001, "left_pinky_dip": 0.69, "left_ring_finger_mcp_flex": 0.89, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.3900000000000001, "left_ring_finger_dip": 0.69, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8039484810829163, "left_thumb_ip": 0.6934994173049928, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "3557c2a0eeb0b52b8a4dd900e938b3d5628399df0815d4f57870ebe5a3eb2bc3" }, { "id": "KSF_packed3_expose_knife_+10_axial250_reach024_open180_seed2026611266_heading-0100_broll+0050_depth000_curl040", "state": "../states/28744e0fed1915ba048ac62d95b9499a535afb08c5e74344ef342bbab73255ae.yaml", "state_sha256": "28744e0fed1915ba048ac62d95b9499a535afb08c5e74344ef342bbab73255ae", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 0.91, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.4100000000000001, "left_index_finger_dip": 0.71, "left_middle_finger_mcp_flex": 0.91, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.4100000000000001, "left_middle_finger_dip": 0.71, "left_pinky_mcp_flex": 0.91, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.4100000000000001, "left_pinky_dip": 0.71, "left_ring_finger_mcp_flex": 0.91, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "c1fbadf27602d745eae2a3056c5bda28d67f7726f227882a45f84bdf55837086" }, { "id": "KFS_packed1_expose_knife_+10_axial250_reach020_open060_seed2028111244_heading+0000_broll-0050_depth050_curl020__sv2_spoon_290f0284c5", "state": "../states/290f0284c51a8ff33c9accaca6d6541007a7868d5849f8d607cfac45d5c519d6.yaml", "state_sha256": "290f0284c51a8ff33c9accaca6d6541007a7868d5849f8d607cfac45d5c519d6", "joint_targets": { "torso_0": -0.0011537006357684731, "torso_1": 0.5254836082458496, "torso_2": -1.0462802648544312, "torso_3": 0.5254958868026733, "torso_4": -0.0011565473396331072, "torso_5": 1.1352957471899572e-06, "head_0": -2.144253130609286e-08, "head_1": -2.5681487159090466e-08, "left_arm_0": 0.29175594449043274, "left_arm_1": 0.47664839029312134, "left_arm_2": -0.7250352501869202, "left_arm_3": -2.329482078552246, "left_arm_4": -1.1904665231704712, "left_arm_5": 0.7293190360069275, "left_arm_6": 2.2599287033081055, "left_index_finger_mcp_flex": 1.01, "left_index_finger_mcp_abd": 0.00016406993963755668, "left_index_finger_pip": 1.51, "left_index_finger_dip": 0.8099999999999999, "left_middle_finger_mcp_flex": 1.01, "left_middle_finger_mcp_abd": 2.6393802727397997e-05, "left_middle_finger_pip": 1.51, "left_middle_finger_dip": 0.8099999999999999, "left_pinky_mcp_flex": 1.01, "left_pinky_mcp_abd": 7.629538304172456e-05, "left_pinky_pip": 1.51, "left_pinky_dip": 0.8099999999999999, "left_ring_finger_mcp_flex": 1.01, "left_ring_finger_mcp_abd": 7.227983587654307e-05, "left_ring_finger_pip": 1.51, "left_ring_finger_dip": 0.8099999999999999, "left_thumb_cmc_flex": 0.9939638555049897, "left_thumb_cmc_abd": -0.3313863217830658, "left_thumb_mcp": 0.8639484810829162, "left_thumb_ip": 0.7534994173049927, "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": "spoon", "source_bank_sha256": "345d0d32730099006da1a6ad22ae34b90fa3b47f62b0cdde22c18b5d4237b9c7", "reset_contract_sha256": "2b8c87b0996d0835dd4535f2a4e727d56331339ea7353d92ba99a9a1ed3e09e9" } ] }