# Original robot work-cell illustration

Current robot visuals are project-authored geometry. This scene illustrates a loading arm, four-wheel carrier, fixed transfer gantry, field guide and humanoid assembler; it is not a recording of deployed hardware or a manufacturer partnership.

## Geometry and motion provenance

- **Loading arm:** `dist/original-arm-design.js` constructs the split links and gripper. The retained joint frames and kinematic hierarchy derive from the Universal Robots UR5e model in Google DeepMind MuJoCo Menagerie (BSD-3-Clause, ROS Industrial Consortium). No UR5e product mesh is used by this current asset package.
- **RIG field guide:** the original character geometry is generated by `dist/concepts/robot-dog-cad/rig.js` and the shared kit. `dist/scene-guide.js` authors its foot-target IK, greeting, ball nudge, step turn and inspection poses. This current package does not use the historical Menagerie quadruped skeleton or any manufacturer visual mesh.
- **H1 humanoid:** the same head, open twin spine, tapered shells and compact motors appear in household cleaning and factory assembly. `dist/scene-humanoid.js` adapts `cleaner.js` to the task. Assembly uses hand targets tied to the shared module and articulated planted-foot poses; no vacuum geometry is included in that mode.
- **Carrier and transfer gantry:** original constructions in `scripts/relay-scene.js`. The fixed Cartesian gantry uses two columns, a rail carriage and a vertical vacuum tool.

- **Motion:** authored visual inverse kinematics, poses and task staging. These assets make no physical-dynamics, factory validation or measured robot-performance claim. Planted-foot, guide-cycle, floor-clearance and ball-contact checks are evaluated by the source export scripts.

Upstream rig references:

- https://github.com/google-deepmind/mujoco_menagerie/tree/8161bba264d7fa7c99ca301e91e7fb44737676ad/boston_dynamics_spot
- https://github.com/google-deepmind/mujoco_menagerie/tree/8161bba264d7fa7c99ca301e91e7fb44737676ad/universal_robots_ur5e

Retain [the historical quadruped rig notice](LICENSE-spot.txt) and [the current arm rig notice](LICENSE-ur5e.txt). The first documents the superseded movement source; the second still applies to the loading and household arm hierarchy. Internal role tokens `spot`, `handle` and `atlas` remain stable serialization keys for existing interaction code and are not public product labels.

## Distribution

`factory-baked/manifest.json` references the currently baked rigid geometry and transform tracks. `robot-relay/manifest.json` references the matching line-art raster fallback. Historical work-in-progress assets may remain in the source checkout; their older provenance does not describe this rebuilt package and they should not be copied into a public release unless independently reviewed.

Project-authored appearance is a design and provenance statement, not a legal clearance opinion. These assets do not grant rights in any third-party trademarks.

## Rebuild and verification

Serve the source `dist/` on a local development port, install NumPy, Pillow, OpenCV and Playwright, and run the following from the repository root. `EMBODIATLAS_URL` chooses that source preview; the final Mac preview serves the filtered `.site-output` build.

```sh
EMBODIATLAS_URL=http://127.0.0.1:4183 node scripts/relay-bake.cjs
EMBODIATLAS_URL=http://127.0.0.1:4183 RELAY_WORK=/tmp/embodiatlas-final-relay RELAY_PORTRAIT=1 node scripts/relay-render.cjs --all
python3 -P scripts/relay-pack.py --input /tmp/embodiatlas-final-relay --output dist/assets/images/robot-relay --prefix process --all
python3 -P scripts/relay-manifest.py
python3 -P scripts/relay-bake-pack.py
python3 -B scripts/build-public.py
```

Set `NODE_PATH` and `CHROME_BIN` to the local Playwright installation and browser if needed. No quadruped manufacturer repository, mesh, or MuJoCo runtime is required to regenerate the current RIG tracks. Historical Python reconstruction scripts are retained for audit history only.

The manifest records payload sizes, SHA-256 hashes, quantization precision and measured geometric checks for the current generation. The build recomputes payload lengths and checksums. These are data-integrity and authored-motion checks, not physical-dynamics or hardware feasibility validation.