trshen925/BottleOnCoaster50_v3_graspplus10mm_fingercollision
BottleOnCoaster50 v3：抓取高度+10mm，官方长手指碰撞 状态：DONE。50条完整校验通过，45训练/5验证，10,550同步时刻、21,100张RGB，按原LZF格式保存在共享盘；4个视频完整解码通过。 用户目标与变化 保持15cm瓶子及原场景外观/相机，参考contactfix生成50条成功取放；相对旧轨迹最低抓取位置+10mm。 抓取指垫参考中心世界z从0.139→0.149m；放置参考从0.151→0.161m。预抓、抬升、搬运和撤离沿用相对高度。 起始TCP位置保留原高度范围，避免将本来已较高的初态再抬高导致不必要的可达性失败；新初态仍高于新最低抓位。 关键碰撞修复：link7/link8加入与官方STL同坐标、同尺度的MuJoCo凸网格碰撞。旧pad7/pad8只作为IK参考点，碰撞关闭，防止短虚拟指垫与实体指面不一致。 旧失败版本的可见长手指碰撞关闭；在原失败闭合姿态启用后发现约13.4mm重叠。使用同一控制重跑后成功承载，证明不是简单的“手指够不到”。… See the full description on the dataset page: https://huggingface.co/datasets/trshen925/BottleOnCoaster50_v3_graspplus10mm_fingercollision.
| Author / organization | trshen925 |
|---|---|
| Downloads | 142 (as reported by Hugging Face) |
| Likes | 1 |
| Created | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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