| # Environment textures and geometry |
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| The unmodified color PNGs are from ambientCG, created by Lennart Demes and released |
| under [CC0 1.0 Universal](https://docs.ambientcg.com/license/). 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. |
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|
| | Local file | Source asset and archive member | |
| |---|---| |
| | `oak_color.png` | [Wood049](https://ambientcg.com/view?id=Wood049), `Wood049_1K-PNG_Color.png` | |
| | `pale_wood_color.png` | [Wood050](https://ambientcg.com/view?id=Wood050), `Wood050_1K-PNG_Color.png` | |
| | `dark_wood_color.png` | [Wood051](https://ambientcg.com/view?id=Wood051), `Wood051_1K-PNG_Color.png` | |
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| 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. |
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| 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. |
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| 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`. |
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