Environment textures and geometry
The unmodified color PNGs are from ambientCG, created by Lennart Demes and released under CC0 1.0 Universal. They may be bundled with the simulator and used in rendered training data. Attribution is preserved here for provenance although CC0 does not require it.
| Local file | Source asset and archive member |
|---|---|
oak_color.png |
Wood049, Wood049_1K-PNG_Color.png |
pale_wood_color.png |
Wood050, Wood050_1K-PNG_Color.png |
dark_wood_color.png |
Wood051, Wood051_1K-PNG_Color.png |
All three are procedural wood materials with nominal 80 x 80 cm source coverage.
Only their color maps are used; no claims of normal mapping, calibrated roughness,
or physically based rendering are made for the classic MuJoCo renderer.
manifest.json records download URLs and SHA-256 hashes of the vendored files.
The room, worktable, robot enclosure, camera mast, cable routes, board inlays and
tray details are authored in sim/scene_environment.py. The robot/chess meshes
have separate provenance in their respective asset directories. Cosmetic hardware
uses visual geom group 1; hidden contact proxies use group 3. The finite tabletop
has a box collision envelope with its top at z=0. Bevelled visual edges differ from
that envelope by at most 3 mm. The enclosure retains its original box envelope.
The scene is a plausible tabletop setup at the existing arm/board scale. Its
lighting, materials, cable routes and furnishings are not measurements of a real
deployment site. Camera pose changes are documented in sim/README.md.