traj-2dd57c3bf866a134 · Datagen replay

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traj-2dd57c3bf866a134

verifying…

Source task

Robot

Unitree G1 (29-DoF + Dex3 Hands)

Skill

walk_circle

Seed

1000

Operator

datagen-composite

Frames

220

Duration

4.38s

Date

2026-06-05

Layout

embedded · 43 dof

Params

{
  "loops": 1,
  "direction": "ccw"
}

Randomization

{
  "seed": 1000,
  "physics": {
    "gravity": [
      0,
      0,
      -10.1633
    ],
    "timestep": 0.002,
    "friction": 0.9084,
    "damping": 0.2842,
    "armature": 0.0315
  },
  "lighting": {
    "ambient": [
      0.4997,
      0.464,
      0.3358
    ],
    "directional": {
      "dir": [
        -0.3555,
        0.4578,
        -0.8149
      ],
      "intensity": 0.8618,
      "color": [
        1,
        1,
        0.9404
      ]
    }
  },
  "sensorNoise": {
    "jointPosStd": 0.0019,
    "jointVelStd": 0.029,
    "imuStd": 0.0459
  }
}

Attestation

hash 2dd57c3bf8…b469c2

sig 402ad5ec89…4b3a0c

at 2026-06-11 03:35:45 UTC

Decompressing trajectory

frame 0/219t 0.00s/4.38s↓