Four baseline fingers, one box
Each hand-designed entrant tries to lift a 90 x 40 x 120 mm box and hold it for 2 s. Same gripper, same controller, same 50 N grip: only the fingers differ.
- PhysicsLocal run on a developer laptop, not a Nebius jobMuJoCo 3.15.0CPU executor1.06 s sim wall time12,080 steps
- DesignHand-designed baseline, no model callHand-designed baseline entrant
t 00.00 / 00.00 s
Phase Settle
- Settle
- Descend
Straight
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Straight: held for 2.0 s. Peak lift 149.2 mm.
Concave
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Concave: held for 2.0 s. Peak lift 149.2 mm.
Hooked
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Hooked: held for 2.0 s. Peak lift 149.1 mm.
Stock
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Stock: held for 2.0 s. Peak lift 149.1 mm.
All lanes share one clock and one camera. The dashed square is the success height (object centre 100 mm above its resting height); the bar under each lane fills while the object stays above it and turns green at 2.0 s. The verdict appears when the scorer decides.
Scorer numbers
From the simulator's scorer, sampled every 10 ms.
| Lane | Fingers | Outcome | Peak lift | Longest hold | Sim steps | Wall time |
|---|---|---|---|---|---|---|
| Straightthe straight entrant lifts and holds the box | Straight | Held 2.0 s | 149.2 mm | 2.01 s | 3,020 | 0.26 s |
| Concavethe concave entrant lifts and holds the box | Concave | Held 2.0 s | 149.2 mm | 2.01 s | 3,020 | 0.29 s |
| Hookedthe hooked entrant lifts and holds the box | Hooked | Held 2.0 s | 149.1 mm | 2.01 s | 3,020 | 0.24 s |
| Stockthe stock entrant lifts and holds the box | Stock | Held 2.0 s | 149.1 mm | 2.01 s | 3,020 | 0.27 s |
Task task_v1
- Success
- Centre rises 100 mm and stays 2.0 s, before 12 s
- Grip force
- 50 N
- Max opening
- 84 mm
- Controller
- Open loop, grasp-height setting k = 0.5
Phases
- Settle0.0 s to 0.3 s
- Descend0.3 s to 1.3 s
- Close1.3 s to 2.6 s
- Lift2.6 s to 4.1 s
- Hold4.1 s to the end