ASENA flight-recorder tutorial excerpt
=====================================

Source presentation and recording credits
----------------------------------------
Learning through robot experience / Project ASENA
An-Chieh Cheng and the ASENA project contributors
https://anjiecheng.me/talks/asena/#real-feedback

The camera recording, G1 model and poster, and exported measured robot states
are taken from the public ASENA presentation. Their original authors retain
their rights. This tutorial adaptation does not grant an additional license
for those assets. The original Unitree G1 notice linked by the source deck
is retained verbatim in assets/UNITREE-G1-LICENSE.txt. The source GLB itself
has no embedded copyright field; model attribution follows the source deck.

Source assets (downloaded without re-encoding):
https://anjiecheng.me/talks/asena/assets/round2/panorama-walk.mp4
https://anjiecheng.me/talks/asena/assets/round2/panorama-walk.jpg
https://anjiecheng.me/talks/asena/assets/revision/g1-canonical.glb
https://anjiecheng.me/talks/asena/assets/revision/g1-body.png

Original model license (retained without modification):
https://anjiecheng.me/talks/asena/assets/revision/UNITREE-G1-LICENSE.txt
Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
See assets/UNITREE-G1-LICENSE.txt for the complete terms and disclaimer.

motion.json preserves the ROBOT_DATA motion and joint metadata from the
presentation's public-data.js, with only the model URL changed to a local path.
The cached source is public-data-current.js. It contains 201 exported states
from 0 to 10 seconds, sampled at 20 Hz, for the September 8 recording
 deck-20260908-175129.mcap, bag time 579-589 seconds.
Camera source: approximately 2 Hz; the supplied 1024 x 512, 10 fps MP4 holds recorded
images, preserving bag-clock alignment. No synthetic camera frames are added.
The q29 arrays are measured joint angles (radians); the replay linearly
interpolates joint angles and positions and spherically interpolates base
quaternions. Display coordinates map [x,y,z] to [x,z,-y].
rootPosition is the source replay's relative trajectory; odomPosition and
odomYaw preserve the source's odometry coordinates. The state inspector shows
nearest exported samples, not interpolated display states.

This component contains only the synchronized camera/body/state excerpt.
Operator events from other sessions and illustrative corrections are not
silently mixed into this recording.

Three.js and GLTFLoader
----------------------
three-replay.js isolates the first Three.js r186 + GLTFLoader bundle from
https://anjiecheng.me/talks/asena/public-runtime.js and exposes the constructors
needed by the standalone viewer. Its upstream license comment is retained.
The original replay's coordinate mapping, joint mapping, and view are retained
in the readable recorder.js adaptation.

MIT License
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