Forest3D woodland replay
One generated woodland and an authored Husky navigation recording. Measured USGS elevation supports procedural trees, rocks and shrubs; vegetation placement is not an ecological survey. Native pose-feedback control reaches and holds the declared goal within the 120-second limit.
Source and scene
The pinned Forest3D generator produces the terrain, mesh exports and seeded placement. The input lock identifies the selected USGS crop, Poly Haven environmental assets, Blender 4.2.3, source code and original Husky revision. The generator's committed empty Blender directories and DEM files without individual provenance are not used as input grants.
The selected public-domain USGS elevation crop is near Claremont, California, in UTM zone 11N. Its 129 × 129 grid spans roughly 110.7 m square with 10.7 m relief. Raster rows are reversed to preserve east/north axes; elevations are not flattened, smoothed or vertically scaled. Seed 42 places 28 trees, 12 rocks and 36 shrubs. Terrain plus vegetation and robot give 78 native models and 87 visuals.
The environment uses Jacaranda, moss rocks, rooibos shrubs and forest-floor materials. Environmental display derivatives total 41,521,391 bytes; every mesh vertex and triangle remains bound to the native export. Original Husky geometry loads from pinned vendor URLs.
Explicit compatibility changes
Gazebo Harmonic ignores the generator's include-level scale. The adapter expands known static models and applies each intended uniform scale to visual and collision meshes. Its native RGB16 PNG decoder swaps red and blue; images are normalized to PNG8 with the decoded RGBA bytes retained. Five alpha-BLEND materials use the native-supported MASK mode at 0.5. Geometry buffer data stays unchanged. Tree IOR/specular extensions remain in the browser source; native extension support and identical rendered pixels are not asserted.
The official Husky URDF supplies chassis, wheels, joints, inertia and collisions. Optional accessories are disabled; ROS1 plugins are replaced with Harmonic differential-drive and joint-state systems. The observer camera is an authored 960 × 640, 5 Hz mounting, not a vendor sensor specification. The main Forest3D generator is separate from its IFIT-2026 wheel-soil physics work.
Native outcome and measured replay
Gazebo Sim 8.15.0, DART and ROS Jazzy execute the declared route protocol: 1 ms physics, 10 Hz commands, maximum 0.5 m/s and 0.6 rad/s, and a goal within 0.6 m held for one second. Initial settling counts against the 120-second limit. The native result records completion in 62.9 simulated seconds, a final goal distance of 0.262 m and maximum observed tilt of 2.741°. This is authored control using native poses, without perception, localization or learned-policy evaluation.
The episode manifest retains 1,163 measured pose publications over 62.901 seconds, including the exact terminal native state. Six robot body frames drive the existing 3D viewer. The 1,284 joint messages and 629 observed commands retain separate timestamps; no aligned applied-action channel is fabricated. The termination flag marks the completed authored recording, not an upstream Gym signal.
The observer clip and frame index preserve all 315 native image timestamps. H.264/YUV420 is a lossy derivative: every decoded frame was compared with the original image, with minimum PSNR 41.08 dB. No image is asserted before +0.001 seconds. Playback then holds the latest observed image with its time and age, including the tail from the last image at 62.8 seconds to the terminal body state. The movable inspection camera is separate.
Desktop evidence and limits
The native, mesh and component audit compares 27,912 body-frame points, 279,814 unique mesh triangles, 22 original line segments and 44 generated material maps. The camera pairing check covers 42 seeks, actual H.264 presentation callbacks, continuous playback, looping, superseded requests, graphics-context recovery and disposal. Component checks supply sealed local asset bytes and do not establish live-network speed or native rendering equivalence. Desktop Chrome uses Intel Arc WebGL and software video decoding. The full desktop explorer check adds 43 seeks, metadata and recipe downloads, pause/loop, trusted background lifecycle events, context recovery and three world-switch cycles. Its first-party transport uses the staged Worker under the canonical hostname and production security policy; buffered local proxy timings do not measure production delivery. Physical-phone checks are deferred.
Attribution and reproduction
Forest3D's root license and README footer identify AGPL-3.0; its MIT badge and package label conflict and remain recorded. Husky source is BSD-3-Clause. Poly Haven assets are CC0; USGS 3DEP data is public domain. Separate runtime and tool terms still apply. No general asset grant is inferred from a public repository.
The producer and reproduction instructions, owned runtime receipt and source lock preserve input identities and explicit adaptations. Metadata and recipe downloads from the workspace describe the selected recording. There is one generated world and one authored task, with zero scored upstream registrations, checkpoints or benchmark results.