Download wrong_rack/scene_000022/front.json from labos-sim/sim-training: direct link, hf CLI and curl.
- Browser
- Download file 26.8 kB
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https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/wrong_rack/scene_000022/front.json
- Command line
-
hf download hf://datasets/labos-sim/sim-training/wrong_rack/scene_000022/front.json
-
curl -L -o front.json https://huggingface.co/datasets/labos-sim/sim-training/resolve/main/wrong_rack/scene_000022/front.json
26.8 kB
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