# Current robot appearances — 5 October 2026

The active scene uses project-authored visible geometry. It does not present the
characters as products of Boston Dynamics, Universal Robots or Unitree. This
replacement is an asset/provenance change, not a legal clearance opinion.

## Household and loading arms

`dist/original-arm-design.js` constructs the complete visible arm and gripper:
a square pedestal, paired open link plates, inset spine, polygonal joint caps,
small indicator strip and electric parallel jaws. No imported robot mesh,
texture or manufacturer material is used by `dist/real-arm.js`.

`dist/original-arm-rig.js` is a **hierarchy-only derivative** of the bundled
MuJoCo Menagerie UR5e description (source commit
8161bba264d7fa7c99ca301e91e7fb44737676ad). It preserves joint axes, limits and
frame transforms to keep the existing task animation/contact coordinates.
Copyright 2018 ROS Industrial Consortium, BSD-3-Clause. The complete notice is
retained in `images/factory-baked/LICENSE-ur5e.txt` and `UR5E-LICENSE.txt`.
These retained kinematics mean the assembly is not claimed to be wholly
independent of third-party source data. The old `buildRealArm` / `createRealArm`
API names remain for compatibility; the returned assembly is `ProjectArmAssembly`.

The original gripper is now constructed directly in code with existing contact
planes and node names. The runtime does not fetch `ur5e*.glb`, `arm.glb` or
`gripper.glb`. `tests/original-arm.mjs` checks 80 poses against an independently
loaded reference rig, including the laundry finger extension.

## Four-legged guide and factory

RIG now uses the same original `rig.js` geometry as the character study: open
cargo deck, six-axis tail manipulator and integrated front, rear and wrist optics.
`dist/scene-guide.js` authors its foot-target IK, greeting and inspection poses;
this current motion package no longer uses the historical Menagerie quadruped
skeleton. Its old BSD notice stays in the source archive to document prior work.

H1 uses `dist/concepts/robot-dog-cad/cleaner.js` in both household cleaning and
factory assembly. `dist/scene-humanoid.js` adapts one geometry to each task,
with no vacuum components constructed in assembly mode.

The fixed transfer gantry replaces the former two-wheel product reconstruction.
The assembly robot uses a project-authored body and joint/link components.
The carrier, module, fixture and conveyor remain project constructions.
See `images/factory-baked/SOURCE.md` and `images/robot-relay/SOURCE.md` for the
actual export workflow, pose origin, compatibility IDs and modifications.

## Publication boundary

`scripts/build-public.py` generates `.site-output` from `dist`. Old manufacturer
meshes and product-based raster/vector/point-sample assets are excluded from
that published tree, while their source notices stay in the repository.
Do not deploy raw `dist` as a substitute for this build. Re-run the build after
changing the scene, then preview `.site-output`.

The public robot labels describe functions rather than commercial products.
The editorial SVG and raster fallback are generated from the replacement forms.
The sponsor support relationship remains a plain-text project-owner-supplied
credit; the downloaded company logo is excluded pending permission verification.

The dog remains a Quaternius CC0 asset acquired through the documented mirror.
The mirror matched the local file during review; the official download was
quota-limited and an exact comparison with the official package remains undone.
No stronger provenance verification is claimed here.