# Fire & Rescue asset provenance ## Unitree B2 mechanical visuals Source: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/b2_description Pinned revision: 7d6075f7f58588b189b940130e3edab3c839b2df Licence: BSD 3-Clause; complete copyright notice, conditions and disclaimer accompany the original sources in Art/Robots/UnitreeB2/LICENSE.txt. The package manifest identifies these configuration files and 3D models as BSD licensed. The original COLLADA components are preserved in UnitreeB2-original-sources.zip. Mesh JSON and Unity mesh assets apply original node transforms, then convert metres/ROS X-forward,Y-left,Z-up to Unity (-Y,Z,X). Triangle winding follows transformed surface normals. Material colours are adapted to URP. A clustered lower-detail mesh is used at distance. The chassis and 12 revolute joints remain separate. Joint origins and limits derive from the included URDF; locomotion is an illustrative kinematic animation, not a validated Unitree controller or dynamics model. Added sensor housings and payloads are custom illustrative parts. Unitree trademarks identify source/model only. No endorsement, partnership, manufacturer certification or measured performance is asserted. Runtime payload, endurance, speed and costs are demonstration assumptions, not manufacturer specifications. ## Poly Haven industrial textures Sources: https://polyhaven.com/a/concrete_floor_worn_001 https://polyhaven.com/a/concrete_block_wall https://polyhaven.com/a/corrugated_iron Licence: CC0 1.0, https://polyhaven.com/license and https://creativecommons.org/publicdomain/zero/1.0/ Nine 1K diffuse, OpenGL normal and roughness maps downloaded through the documented public API with an identifying user agent. Each download was checked against the API-provided MD5 checksum. URLs and checksums are retained in Art/Textures/PolyHaven/provenance.json. Roughness is packed into Unity metallic/smoothness textures during Editor authoring. Assets are bundled offline; no Poly Haven service is called by the demonstrator. ## Custom facility and supplementary parts Architectural assemblies, process equipment, racks, stairs, loading shutter, signs, floor markings, command table, cones, fire equipment and supplementary sensor housings are authored for this project by the included Editor builders. No external proprietary CAD or customer site data is used. Building layout is fictional and is not a fire-safety compliant design or verified BIM model. Simple colliders are separate from detailed rendered meshes. Smoke/fire are bounded pooled particle systems and do not simulate combustion or fluid flow. ## Distribution Retain this document and the complete Unitree BSD notice in distributed demonstrator documentation. 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