FAILURE-FIRST · DERIVED VISUALISATION · REPLAY
SimLab
A standalone 3D laboratory for recorded Unitree Go2 and G1 trajectories — cinematic rendering of real physics traces from this research programme, never the other way around. What you see traces back to a source run; nothing here is invented for effect. Every mode you can open — observer, robot POV, sensor cockpit, peer radio — renders exactly the channels a recording carries and says UNAVAILABLE for the rest.
Real evidence, honestly scoped
The Real Evidence preset renders a genuine, sha256-hashed MuJoCo trace — not a synthetic demo. Its verdict names exactly which falsifier check ran and over which phase, and explicitly disclaims the phases that were only recorded, not verified. A phase-scoped result never reads as a whole-scenario claim.
Robot POV & sensor cockpit
Switch to a camera mounted on the robot's own recorded pose — tagged on-screen as ROBOT POV · DERIVED_VIEW, never sensor imagery, because none was captured. The sensor cockpit lists every telemetry channel a trace could carry; channels the trace doesn't have readUNAVAILABLE instead of showing invented values.
Peer radio & forensic console
A hideable forensic console reads the loaded trace's events, guard/tool calls, and (when present) peer-to-peer radio messages between robots — transmission, receipt, and reply lineage, rendered only fromradio_tx/radio_rx trace events.
REPLAY vs. LIVE
SimLab's default and production mode is REPLAY: every pixel derives from a finalized, hash-addressed recording. A LIVE command surface exists for driving a local deterministic simulator session directly; production always shows its true connection state and refuses any command it cannot actually execute — no faked outcomes, ever.
UTOPIA / DYSTOPIA
A presentation-only world switch: the same recorded evidence renders as a bright robotics-institute laboratory or a dark industrial one. Camera geometry, timestamps, and verdicts are provably unaffected — only pixels change.
Built for scrutiny
Deterministic deep links (?preset=…&t=…&paused), strict schema validation on every recording, and official Unitree URDF/mesh assets pinned to an exact upstream commit with a SHA-256 manifest.
Source: apps/simviz/ in the research repository. Rendering isDERIVED_VISUALISATION — it never alters or implies changes to a recorded trajectory.