traj-4e61b17fcddbfb85 · Datagen replay

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traj-4e61b17fcddbfb85

verifying…

Source task

Robot

Unitree G1 (29-DoF + Dex3 Hands)

Skill

pick_and_place

Seed

Operator

datagen-batch

Frames

301

Duration

6.00s

Date

2026-05-31

Layout

legacy fallback · 43 dof

Params

{
  "arm": "right",
  "from": [
    0.892,
    0.217,
    1.05
  ],
  "to": [
    -1.372,
    -0.005,
    1.178
  ],
  "objectIndex": 0
}

Scene (4)

cubepos 0.89,0.22,1.05
cubepos -0.41,-1.30,0.51
spherepos -1.44,-0.36,1.10
cylinderpos 0.72,0.82,1.19

Randomization

{
  "seed": 2,
  "physics": {
    "gravity": [
      0,
      0,
      -9.396
    ],
    "timestep": 0.002,
    "friction": 1.253,
    "damping": 0.1152,
    "armature": 0.0174
  },
  "lighting": {
    "ambient": [
      0.3579,
      0.4135,
      0.3822
    ],
    "directional": {
      "dir": [
        -0.3333,
        -0.9034,
        -0.2698
      ],
      "intensity": 0.977,
      "color": [
        0.8828,
        1,
        0.8852
      ]
    }
  },
  "sensorNoise": {
    "jointPosStd": 0.0024,
    "jointVelStd": 0.0431,
    "imuStd": 0.025
  }
}

Attestation

hash 4e61b17fcd…9dc8e8

sig 213722eaae…53e503

at 2026-06-11 02:23:26 UTC

Decompressing trajectory

frame 0/300t 0.00s/6.00s↓