# 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.
- **Field guide:** `scripts/relay_original_guide.py` constructs every visible mesh: a three-pod chassis, sensor nose, forked structural links and round contact pads. The locomotion skeleton, joint limits and inertial records derive from the Boston Dynamics Spot model in Menagerie (BSD-3-Clause, Clearpath Robotics Inc.). No Spot visual or collision mesh is copied. The retained source rig remains a licensed derivative; replacing its appearance does not remove its attribution.
- **Carrier, transfer gantry and assembler:** authored in `scripts/relay-scene.js`. The fixed Cartesian gantry replaces the earlier Handle-inspired wheel-and-counterweight reconstruction. The assembler has a new rectangular sensor head, open twin spine, forked limb plates and project-authored proportions, replacing the earlier Atlas-inspired shell.
- **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 quadruped rig notice](LICENSE-spot.txt) and [the arm rig notice](LICENSE-ur5e.txt). Source product names appear here only to identify the licensed derivatives, not as the names of the current visual characters. 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 `dist/` on port 50218, install the script dependencies (`mujoco`, `numpy`, `scipy`, Pillow, OpenCV and Playwright), and use the attributed Menagerie checkout at `/tmp/menagerie`. From the repository root:

```sh
python -P scripts/relay-spot.py /tmp/menagerie /tmp/embodiatlas-engineering-relay/spot.json
python -P scripts/relay-play.py /tmp/menagerie /tmp/embodiatlas-engineering-relay/play.json
CHROME_BIN=/usr/bin/google-chrome NODE_PATH=/tmp/embodiatlas-browser-tools/node_modules node scripts/relay-bake.cjs
CHROME_BIN=/usr/bin/google-chrome NODE_PATH=/tmp/embodiatlas-browser-tools/node_modules RELAY_WORK=/tmp/embodiatlas-original-relay RELAY_PORTRAIT=1 node scripts/relay-render.cjs /tmp/menagerie --all
python -P scripts/relay-pack.py --input /tmp/embodiatlas-original-relay --output dist/assets/images/robot-relay --prefix process --all
python -P scripts/relay-manifest.py
python -P scripts/relay-bake-pack.py
```

The current package has 656 rigid parts and 156 shared geometries. It includes 120 process frames, 48 guide-cycle frames and 96 greeting/nudge frames. The original guide mesh names in every process instance were checked against the generated `original_part_*` set. No upstream product mesh appears in the current guide geometry.

Binary checks below recompute SHA-256 from each decompressed file and verify its declared byte count. These checks establish data integrity and provenance tracking, not legal clearance or physical robot validation.

| Payload | gzip bytes | SHA-256 of decompressed data |
| --- | ---: | --- |
| geometry | 145547 | `97107c1d77ecc40c13937a7ffb2165226a184dc526be11d2028e680065b5f821` |
| poses | 123133 | `fc6955c3a740e894ed15a0b1cb6317d1204e3541cc0d6277e2f2a0375afc1018` |
| guide | 23356 | `2a2c0457d420755cce85990fe5c781fb3c405061ea838211256e7d98adcfbb19` |
| play | 65629 | `6d790276d7cff7b889b697682d702f1ae6cb105018e18229e560ff639a769f2f` |

Export-time measured bounds: guide planted-foot slip below 2e-10 m; loop pose closure 0; ball/body contact error below 1e-15 m; minimum guide visual height during greeting above 0.003 m. Quantized local positions have maximum error 0.0000677 m. The larger fixed gantry uses a slightly wider and higher raster framing during transfer so its rail remains in view.

## Current RIG / H1 generation

The active process images are now rendered from the same RIG quadruped and H1 humanoid geometry used by the homepage and character studies. `scene-guide.js` supplies original foot-target walking and play poses; `scene-humanoid.js` supplies module-linked assembly. The earlier quadruped rig workflow described above is historical. See [the current runtime source record](../factory-baked/SOURCE.md) for regeneration commands and provenance.