来源与许可

{
  "controller-MIT.txt": "MIT License\n\nCopyright (c) 2026 Dmitry Hrybov\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "kinova-BSD-3-Clause.txt": "Copyright (c) 2018, Kinova inc.\n\nRedistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:\n\n1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.\n\n2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.\n\n3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n",
  "robotiq-BSD-2-Clause.txt": "Copyright (c) 2013, ROS-Industrial\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without modification,\nare permitted provided that the following conditions are met:\n\n  Redistributions of source code must retain the above copyright notice, this\n  list of conditions and the following disclaimer.\n\n  Redistributions in binary form must reproduce the above copyright notice, this\n  list of conditions and the following disclaimer in the documentation and/or\n  other materials provided with the distribution.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND\nANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED\nWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR\nANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES\n(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\nLOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON\nANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT\n(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS\nSOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n"
}

{
  "controller-MIT.txt": "MIT License\n\nCopyright (c) 2026 Dmitry Hrybov\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "unitree-G1-BSD-3-Clause.txt": "Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. (\"Unitree Robotics\")\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without\nmodification, are permitted provided that the following conditions are met:\n\n* Redistributions of source code must retain the above copyright notice, this\n  list of conditions and the following disclaimer.\n\n* Redistributions in binary form must reproduce the above copyright notice,\n  this list of conditions and the following disclaimer in the documentation\n  and/or other materials provided with the distribution.\n\n* Neither the name of the copyright holder nor the names of its\n  contributors may be used to endorse or promote products derived from\n  this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE\nFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL\nDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR\nSERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\nCAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,\nOR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE\nOF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n"
}

{
  "controller-MIT.txt": "MIT License\n\nCopyright (c) 2026 Dmitry Hrybov\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "kinova-BSD-3-Clause.txt": "Copyright (c) 2018, Kinova inc.\n\nRedistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:\n\n1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.\n\n2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.\n\n3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n",
  "robotiq-BSD-2-Clause.txt": "Copyright (c) 2013, ROS-Industrial\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without modification,\nare permitted provided that the following conditions are met:\n\n  Redistributions of source code must retain the above copyright notice, this\n  list of conditions and the following disclaimer.\n\n  Redistributions in binary form must reproduce the above copyright notice, this\n  list of conditions and the following disclaimer in the documentation and/or\n  other materials provided with the distribution.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND\nANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED\nWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR\nANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES\n(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\nLOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON\nANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT\n(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS\nSOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n"
}

{
  "controller-MIT.txt": "MIT License\n\nCopyright (c) 2026 Dmitry Hrybov\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "kinova-BSD-3-Clause.txt": "Copyright (c) 2018, Kinova inc.\n\nRedistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:\n\n1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.\n\n2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.\n\n3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n",
  "shadow-hand-Apache-2.0.txt": "\n                                 Apache License\n                           Version 2.0, January 2004\n                        http://www.apache.org/licenses/\n\n   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n   1. Definitions.\n\n      \"License\" shall mean the terms and conditions for use, reproduction,\n      and distribution as defined by Sections 1 through 9 of this document.\n\n      \"Licensor\" shall mean the copyright owner or entity authorized by\n      the copyright owner that is granting the License.\n\n      \"Legal Entity\" shall mean the union of the acting entity and all\n      other entities that control, are controlled by, or are under common\n      control with that entity. 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}

{
  "Allegro-BSD-2-Clause.txt": "Copyright (c) 2016, SimLab\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without\nmodification, are permitted provided that the following conditions are met:\n\n* Redistributions of source code must retain the above copyright notice, this\n  list of conditions and the following disclaimer.\n\n* Redistributions in binary form must reproduce the above copyright notice,\n  this list of conditions and the following disclaimer in the documentation\n  and/or other materials provided with the distribution.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE\nFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL\nDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR\nSERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\nCAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,\nOR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE\nOF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n",
  "DexJoCo-MIT.txt": "MIT License\n\nCopyright (c) 2026 Dexjoco contributors\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "EFE-MIT.txt": "MIT License\n\nCopyright (c) 2026 Kangrui Wang and Embodied First Exam contributors\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "Franka-Apache-2.0.txt": "                                 Apache License\n                           Version 2.0, January 2004\n                        http://www.apache.org/licenses/\n\n   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n   1. Definitions.\n\n      \"License\" shall mean the terms and conditions for use, reproduction,\n      and distribution as defined by Sections 1 through 9 of this document.\n\n      \"Licensor\" shall mean the copyright owner or entity authorized by\n      the copyright owner that is granting the License.\n\n      \"Legal Entity\" shall mean the union of the acting entity and all\n      other entities that control, are controlled by, or are under common\n      control with that entity. For the purposes of this definition,\n      \"control\" means (i) the power, direct or indirect, to cause the\n      direction or management of such entity, whether by contract or\n      otherwise, or (ii) ownership of fifty percent (50%) or more of the\n      outstanding shares, or (iii) beneficial ownership of such entity.\n\n      \"You\" (or \"Your\") shall mean an individual or Legal Entity\n      exercising permissions granted by this License.\n\n      \"Source\" form shall mean the preferred form for making modifications,\n      including but not limited to software source code, documentation\n      source, and configuration files.\n\n      \"Object\" form shall mean any form resulting from mechanical\n      transformation or translation of a Source form, including but\n      not limited to compiled object code, generated documentation,\n      and conversions to other media types.\n\n      \"Work\" shall mean the work of authorship, whether in Source or\n      Object form, made available under the License, as indicated by a\n      copyright notice that is included in or attached to the work\n      (an example is provided in the Appendix below).\n\n      \"Derivative Works\" shall mean any work, whether in Source or Object\n      form, that is based on (or derived from) the Work and for which the\n      editorial revisions, annotations, elaborations, or other modifications\n      represent, as a whole, an original work of authorship. For the purposes\n      of this License, Derivative Works shall not include works that remain\n      separable from, or merely link (or bind by name) to the interfaces of,\n      the Work and Derivative Works thereof.\n\n      \"Contribution\" shall mean any work of authorship, including\n      the original version of the Work and any modifications or additions\n      to that Work or Derivative Works thereof, that is intentionally\n      submitted to Licensor for inclusion in the Work by the copyright owner\n      or by an individual or Legal Entity authorized to submit on behalf of\n      the copyright owner. For the purposes of this definition, \"submitted\"\n      means any form of electronic, verbal, or written communication sent\n      to the Licensor or its representatives, including but not limited to\n      communication on electronic mailing lists, source code control systems,\n      and issue tracking systems that are managed by, or on behalf of, the\n      Licensor for the purpose of discussing and improving the Work, but\n      excluding communication that is conspicuously marked or otherwise\n      designated in writing by the copyright owner as \"Not a Contribution.\"\n\n      \"Contributor\" shall mean Licensor and any individual or Legal Entity\n      on behalf of whom a Contribution has been received by Licensor and\n      subsequently incorporated within the Work.\n\n   2. Grant of Copyright License. Subject to the terms and conditions of\n      this License, each Contributor hereby grants to You a perpetual,\n      worldwide, non-exclusive, no-charge, royalty-free, irrevocable\n      copyright license to reproduce, prepare Derivative Works of,\n      publicly display, publicly perform, sublicense, and distribute the\n      Work and such Derivative Works in Source or Object form.\n\n   3. Grant of Patent License. Subject to the terms and conditions of\n      this License, each Contributor hereby grants to You a perpetual,\n      worldwide, non-exclusive, no-charge, royalty-free, irrevocable\n      (except as stated in this section) patent license to make, have made,\n      use, offer to sell, sell, import, and otherwise transfer the Work,\n      where such license applies only to those patent claims licensable\n      by such Contributor that are necessarily infringed by their\n      Contribution(s) alone or by combination of their Contribution(s)\n      with the Work to which such Contribution(s) was submitted. 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You may reproduce and distribute copies of the\n      Work or Derivative Works thereof in any medium, with or without\n      modifications, and in Source or Object form, provided that You\n      meet the following conditions:\n\n      (a) You must give any other recipients of the Work or\n          Derivative Works a copy of this License; and\n\n      (b) You must cause any modified files to carry prominent notices\n          stating that You changed the files; and\n\n      (c) You must retain, in the Source form of any Derivative Works\n          that You distribute, all copyright, patent, trademark, and\n          attribution notices from the Source form of the Work,\n          excluding those notices that do not pertain to any part of\n          the Derivative Works; and\n\n      (d) If the Work includes a \"NOTICE\" text file as part of its\n          distribution, then any Derivative Works that You distribute must\n          include a readable copy of the attribution notices contained\n          within such NOTICE file, excluding those notices that do not\n          pertain to any part of the Derivative Works, in at least one\n          of the following places: within a NOTICE text file distributed\n          as part of the Derivative Works; within the Source form or\n          documentation, if provided along with the Derivative Works; or,\n          within a display generated by the Derivative Works, if and\n          wherever such third-party notices normally appear. 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}

{
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  "BiGym2-NOTICE.txt": "BiGym 2.0\nCopyright 2024 the BiGym authors\nCopyright 2026 the BiGym 2.0 authors\n\nLicensed under the Apache License, Version 2.0 (see LICENSE).\n\nThis distribution includes the NVIDIA GR00T Whole-Body Control policy\nweights (bigym/loco/assets/GR00T-WholeBodyControl-Balance.onnx and\nbigym/loco/assets/GR00T-WholeBodyControl-Walk.onnx):\nLicensed by NVIDIA Corporation under the NVIDIA Open Model License.\nThe agreement text and all other third-party notices are in\nTHIRD_PARTY_NOTICES.md.\n",
  "BiGym2-THIRD-PARTY-NOTICES.md": "# Third-Party Notices\n\nBiGym 2.0 is distributed under the Apache License 2.0 (see [`LICENSE`](LICENSE)).\nThis file lists the third-party components redistributed inside this\nrepository, or pulled in as pinned dependencies, together with their upstream\norigin and licensing terms.\n\nNothing in this file changes or supersedes the terms of the components it\ndescribes. Where a component ships its own license file, that file is\nauthoritative; the vendored copy is named in each section.\n\nLast reviewed: 2026-10-07.\n\n## Summary\n\n| # | Component | Path(s) in repo | License |\n|---|-----------|-----------------|---------|\n| 1 | GR00T Whole-Body Control policy weights (NVIDIA) | `bigym/loco/assets/GR00T-WholeBodyControl-{Balance,Walk}.onnx` | NVIDIA Open Model License |\n| 2 | GR00T-WBC policy runtime (NVIDIA, vendored source) | `bigym/loco/adapters/_groot/` | Apache-2.0 |\n| 3 | Unitree G1 body meshes (AMO MJCF packaging) | `bigym/envs/xmls/g1/meshes/` | Apache-2.0 (packaging); BSD-3-Clause (robot description) |\n| 4 | Unitree G1 Dex1-1 / 5010 wrist meshes + MJCF | `bigym/envs/xmls/g1/` | BSD-3-Clause |\n| 5 | 3D props — CC BY 4.0 group | `bigym/envs/xmls/props/{groceries,kitchen,board,pan,saucepan,spatula}/...` | CC BY 4.0 |\n| 6 | 3D props — CC0 group | `bigym/envs/xmls/props/{cutlery,table,table_dishwasher,plate,mug,cutlery_tray}/...` | CC0 1.0 |\n| 7 | Box prop | `bigym/envs/xmls/props/box/assets` | Apache-2.0 (procedural texture generated in-repo) |\n| 8 | 3D assets from upstream BiGym | `bigym/envs/xmls/props/{dishwasher,dish_drainer,sandwich,cube}/` | see §8 |\n| 9 | Upstream BiGym | this repository (fork base) | Apache-2.0 |\n| 10 | Code adapted from mjlab | `typings/` | Apache-2.0 |\n\n---\n\n## 1. GR00T Whole-Body Control policy weights\n\n- **Component**: `GR00T-WholeBodyControl` decoupled WBC G1 policy checkpoints\n  (Balance and Walk experts), used by the `groot_wbc_g1` lower-body backend.\n- **Path(s) in repo**:\n  - `bigym/loco/assets/GR00T-WholeBodyControl-Balance.onnx`\n  - `bigym/loco/assets/GR00T-WholeBodyControl-Walk.onnx`\n- **Upstream URL**: <https://github.com/NVlabs/GR00T-WholeBodyControl>\n  (weights at `decoupled_wbc/sim2mujoco/resources/robots/g1/policy/`)\n- **Copyright**: NVIDIA Corporation & Affiliates.\n- **License**: NVIDIA Open Model License Agreement (version dated\n  2025-10-24). Upstream `LICENSE` states the repository is dual-licensed:\n  source code under Apache-2.0, **model weights under the NVIDIA Open Model\n  License**. Upstream ships the license text in a file named\n  `NVIDIA Open Model License` next to the weights.\n- **Verification**: the two `.onnx` files in this repository are MD5-identical\n  to the upstream checkpoints\n  (`409ca65a1937dfe2528bb604090fd2ae` Balance,\n  `3856429cab4856cfa47cefe2d34cb7ca` Walk; checked 2026-09-02).\n- **License text**: reproduced verbatim below, as required for\n  redistribution of the Model.\n\n<details>\n<summary>NVIDIA Open Model License Agreement (full text)</summary>\n\n```text\nNVIDIA Open Model License Agreement\n\nLast Modified: October 24, 2025\n\nThis NVIDIA Open Model License Agreement (the “Agreement”) is a legal agreement between the Legal Entity You represent, or if no entity is identified, You and NVIDIA Corporation and its Affiliates (“NVIDIA”) and governs Your use of the Models that NVIDIA provides to You under this Agreement. NVIDIA and You are each a “party” and collectively the “parties.”\n\nNVIDIA models released under this Agreement are intended to be used permissively and enable the further development of AI technologies. Subject to the terms of this Agreement, NVIDIA confirms that:\n\nModels are commercially usable.\nYou are free to create and distribute Derivative Models.\nNVIDIA does not claim ownership to any outputs generated using the Models or Derivative Models.\nBy using, reproducing, modifying, distributing, performing or displaying any portion or element of the Model or Derivative Model, or otherwise accepting the terms of this Agreement, you agree to be bound by this Agreement.\n\nDefinitions. The following definitions apply to this Agreement:\n\n\"Derivative Model\" means all (a) modifications to the Model, (b) works based on the Model, and (c) any other derivative works of the Model. An output is not a Derivative Model.\n\n\"Legal Entity\" means the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, \"control\" means (a) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (b) ownership of fifty percent (50%) or more of the outstanding shares, or (c) beneficial ownership of such entity.\n\n“Model” means the machine learning model, software, checkpoints, learnt weights, algorithms, parameters, configuration files and documentation shared under this Agreement.\n\n\"NVIDIA Cosmos Model\" means a multimodal Model shared under this Agreement\n\n\"Special-Purpose Model\" means a Model that is only competent in a narrow set of purpose-specific tasks and should not be used for unintended or general-purpose applications\n\n“You” or “Your” means an individual or Legal Entity exercising permissions granted by this Agreement.\n\nConditions for Use, License Grant, AI Ethics and IP Ownership.\n\nConditions for Use. The Model and any Derivative Model are subject to additional terms as described in Section 2 and Section 3 of this Agreement and govern Your use. If You institute copyright or patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Model or a Derivative Model constitutes direct or contributory copyright or patent infringement, then any licenses granted to You under this Agreement for that Model or Derivative Model will terminate as of the date such litigation is filed. If You bypass, disable, reduce the efficacy of, or circumvent any technical limitation, safety guardrail or associated safety guardrail hyperparameter, encryption, security, digital rights management, or authentication mechanism (collectively “Guardrail”) contained in the Model without a substantially similar Guardrail appropriate for your use case, your rights under this Agreement will automatically terminate. NVIDIA may indicate in relevant documentation that a Model is a Special-Purpose Model. NVIDIA may update this Agreement to comply with legal and regulatory requirements at any time and You agree to either comply with any updated license or cease Your copying, use, and distribution of the Model and any Derivative Model.\n\nLicense Grant. The rights granted herein are explicitly conditioned on Your full compliance with the terms of this Agreement. Subject to the terms and conditions of this Agreement, NVIDIA hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, revocable (as stated in Section 2.1) license to publicly perform, publicly display, reproduce, use, create derivative works of, make, have made, sell, offer for sale, distribute (through multiple tiers of distribution) and import the Model.\n\nAI Ethics. Use of the Models under the Agreement must be consistent with NVIDIA’s Trustworthy AI terms found at https://www.nvidia.com/en-us/agreements/trustworthy-ai/terms/.\n\nNVIDIA owns the Model and any Derivative Models created by NVIDIA. Subject to NVIDIA’s underlying ownership rights in the Model or its Derivative Models, You are and will be the owner of Your Derivative Models. NVIDIA claims no ownership rights in outputs. You are responsible for outputs and their subsequent uses. Except as expressly granted in this Agreement, (a) NVIDIA reserves all rights, interests and remedies in connection with the Model and (b) no other license or right is granted to you by implication, estoppel or otherwise.\n\nRedistribution. You may reproduce and distribute copies of the Model or Derivative Models thereof in any medium, with or without modifications, provided that You meet the following conditions:\n\nIf you distribute the Model, You must give any other recipients of the Model a copy of this Agreement and include the following attribution notice within a “Notice” text file with such copies: “Licensed by NVIDIA Corporation under the NVIDIA Open Model License”;\n\nIf you distribute or make available a NVIDIA Cosmos Model, or a product or service (including an AI model) that contains or uses a NVIDIA Cosmos Model, use a NVIDIA Cosmos Model to create a Derivative Model, or use a NVIDIA Cosmos Model or its outputs to create, train, fine tune, or otherwise improve an AI model, you will include “Built on NVIDIA Cosmos” on a related website, user interface, blogpost, about page, or product documentation; and\n\nYou may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Models as a whole, provided Your use, reproduction, and distribution of the Model otherwise complies with the conditions stated in this Agreement.\n\nSeparate Components. The Models may include or be distributed with components provided with separate legal notices or terms that accompany the components, such as an Open Source Software License or other third-party license. The components are subject to the applicable other licenses, including any proprietary notices, disclaimers, requirements and extended use rights; except that this Agreement will prevail regarding the use of third-party Open Source Software License, unless a third-party Open Source Software License requires its license terms to prevail. “Open Source Software License” means any software, data or documentation subject to any license identified as an open source license by the Open Source Initiative (https://opensource.org), Free Software Foundation (https://www.fsf.org) or other similar open source organization or listed by the Software Package Data Exchange (SPDX) Workgroup under the Linux Foundation (https://www.spdx.org).\n\nTrademarks. This Agreement does not grant permission to use the trade names, trademarks, service marks, or product names of NVIDIA, except as required for reasonable and customary use in describing the origin of the Model and reproducing the content of the “Notice” text file.\n\nDisclaimer of Warranty. Unless required by applicable law or agreed to in writing, NVIDIA provides the Model on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for reviewing Model documentation, including any Special-Purpose Model limitations, and determining the appropriateness of using or redistributing the Model, Derivative Models and outputs. You assume any risks associated with Your exercise of permissions under this Agreement.\n\nLimitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, will NVIDIA be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this Agreement or out of the use or inability to use the Model, Derivative Models or outputs (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if NVIDIA has been advised of the possibility of such damages.\n\nIndemnity. You will indemnify and hold harmless NVIDIA from and against any claim by any third party arising out of or related to your use or distribution of the Model, Derivative Models or outputs.\n\nFeedback. NVIDIA appreciates your feedback, and You agree that NVIDIA may use it without restriction or compensation to You.\n\nGoverning Law. This Agreement will be governed in all respects by the laws of the United States and the laws of the State of Delaware, without regard to conflict of laws principles or the United Nations Convention on Contracts for the International Sale of Goods. The state and federal courts residing in Santa Clara County, California will have exclusive jurisdiction over any dispute or claim arising out of or related to this Agreement, and the parties irrevocably consent to personal jurisdiction and venue in those courts; except that, either party may apply for injunctive remedies or an equivalent type of urgent legal relief in any jurisdiction.\n\nTrade and Compliance. You agree to comply with all applicable export, import, trade and economic sanctions laws and regulations, as amended, including without limitation U.S. Export Administration Regulations and Office of Foreign Assets Control regulations. These laws include restrictions on destinations, end-users and end-use.\n\nVersion Release Date: October 24, 2025\n```\n\n</details>\n\n---\n\n## 2. GR00T-WBC policy runtime (vendored source)\n\n- **Component**: the `decoupled_wbc` G1 Gear-WBC policy runtime — the Python\n  code that loads and steps the component 1 weights.\n- **Path(s) in repo**: `bigym/loco/adapters/_groot/` —\n  `g1_gear_wbc_policy.py` (modified), `gear_wbc_utils.py` (byte-identical),\n  `g1_gear_wbc.yaml` (byte-identical). `PROVENANCE.md` in that directory\n  lists the upstream paths, the sha256 of each original file and every edit\n  made to the modified file (torch tensors replaced by numpy arrays, ONNX\n  paths taken as given, single-threaded onnxruntime sessions, keyboard teleop\n  handler removed).\n- **Upstream URL**: <https://github.com/NVlabs/GR00T-WholeBodyControl>\n  (commit `021df739f0b36e514399f0030e3a195683a46383`).\n- **Copyright**: NVIDIA Corporation & Affiliates.\n- **License**: Apache License 2.0 — source code, which upstream's dual-license\n  notice places under Apache-2.0 (only model weights carry the NVIDIA Open\n  Model License, §1). Redistributed under the same license with this notice;\n  modifications are marked in `PROVENANCE.md` as Apache-2.0 §4(b) requires.\n- **License text**: Apache-2.0, identical to this repository's\n  [`LICENSE`](LICENSE).\n\n---\n\n## 3. Unitree G1 body meshes (AMO MJCF packaging)\n\n- **Component**: Unitree G1 29-DoF humanoid body: the STL meshes of the\n  pelvis, legs, waist, torso and arms, plus the MJCF body/inertial/actuator\n  definitions above the wrist that the Dex1-1 scene in §4 inherits.\n- **Path(s) in repo**: the body STL meshes under `bigym/envs/xmls/g1/meshes/`\n  (every file there other than the Dex1/5010 meshes listed in §4),\n  byte-identical to the source.\n- **Upstream URL**: MJCF packaging by the AMO project,\n  <https://github.com/OpenTeleVision/AMO>; underlying robot description from\n  <https://github.com/unitreerobotics/unitree_ros>.\n- **Copyright**: Jialong Li, Xuxin Cheng, Tianshu Huang, Xiaolong Wang\n  (packaging); HangZhou YuShu TECHNOLOGY CO.,LTD (\"Unitree Robotics\")\n  (robot description and meshes).\n- **License**: Apache License 2.0 for the AMO packaging; the underlying\n  Unitree robot description is BSD-3-Clause.\n- **License text**: [`bigym/envs/xmls/g1/LICENSE`](bigym/envs/xmls/g1/LICENSE)\n  (Apache-2.0, AMO authors) and\n  [`bigym/envs/xmls/g1/LICENSE.unitree`](bigym/envs/xmls/g1/LICENSE.unitree)\n  (BSD-3-Clause, Unitree Robotics).\n\n---\n\n## 4. Unitree G1 Dex1-1 grippers and 5010 wrists\n\n- **Component**: Unitree Dex1-1 parallel gripper and official 5010 wrist\n  meshes, and the G1 MJCF that mounts them on the arms.\n- **Path(s) in repo**:\n  - `bigym/envs/xmls/g1/g1_29dof_with_dex1_1.xml`\n  - `bigym/envs/xmls/g1/meshes/Dex1_*.STL`, `dex1_col_*.stl`,\n    `*_wrist_*_5010.STL`\n- **Upstream URL**: <https://github.com/unitreerobotics/unitree_ros>\n  (`robots/g1_description/g1_29dof_mode_15_with_dex1_1.urdf` and its meshes).\n- **Copyright**: HangZhou YuShu TECHNOLOGY CO.,LTD (\"Unitree Robotics\").\n- **License**: BSD-3-Clause, text in\n  [`bigym/envs/xmls/g1/LICENSE.unitree`](bigym/envs/xmls/g1/LICENSE.unitree).\n- **Modifications**: this project adds thin rubber-pad collision boxes on the\n  finger inner faces and end-effector sites; they are distributed under the\n  same terms.\n\n---\n\n## 5. 3D props — CC BY 4.0\n\nAttribution is required. Per-model details, authors and source links are in\n[`bigym/envs/xmls/3D_MODELS_ATTRIBUTION.md`](bigym/envs/xmls/3D_MODELS_ATTRIBUTION.md).\n\n| Model | Path(s) | Author | Source |\n|-------|---------|--------|--------|\n| Groceries | `bigym/envs/xmls/props/groceries/assets` | tulex_art | <https://skfb.ly/6RCNy> |\n| Kitchen set | `bigym/envs/xmls/props/kitchen/assets` | RedKit | <https://skfb.ly/6SXBW> |\n| Kitchen utensils | `props/board/assets`, `props/pan/assets`, `props/saucepan/assets`, `props/spatula/assets`, `props/groceries/{detergent,soap,wine}/assets` | Nicolai Kilstrup | <https://skfb.ly/oFoUn> |\n\n- **License**: Creative Commons Attribution 4.0 International —\n  <https://creativecommons.org/licenses/by/4.0/>\n- Some models were modified (re-meshed, decomposed for collision, re-scaled)\n  for use in MuJoCo.\n\n---\n\n## 6. 3D props — CC0 1.0\n\n| Model | Path(s) | Author | Source |\n|-------|---------|--------|--------|\n| Cutlery (knife, fork, spoon) | `props/cutlery/{knife,fork,spoon}/assets` | thebasemesh.com | <https://thebasemesh.com> |\n| Tables | `props/table/assets`, `props/table_dishwasher/assets` | thebasemesh.com | <https://thebasemesh.com> |\n| Plate | `props/plate/assets` | thebasemesh.com | <https://thebasemesh.com> |\n| Mug | `props/mug/assets` | thebasemesh.com | <https://thebasemesh.com> |\n| Cutlery tray | `props/cutlery_tray/assets` | thebasemesh.com | <https://thebasemesh.com> |\n\n- **License**: CC0 1.0 Universal (public domain dedication) —\n  <https://creativecommons.org/publicdomain/zero/1.0/>\n\n---\n\n## 7. Box prop — Apache-2.0 (procedural, in-repo)\n\n- **Component**: Box 3D model, used by the `StoreBox` and `PickBox` tasks\n  (`bigym/envs/pick_and_place.py`).\n- **Path(s) in repo**: `bigym/envs/xmls/props/box/box.xml` (MuJoCo box\n  primitives for both the visual and the collision geom) and\n  `bigym/envs/xmls/props/box/assets/cardboard_procedural.png`, generated by\n  `assets/make_cardboard_texture.py` (fixed seed, numpy/PIL, no external\n  input).\n- **License**: same as the repository (Apache-2.0). No third-party content.\n\n---\n\n## 8. 3D assets from upstream BiGym\n\nThese asset directories come from the upstream BiGym repository (§9,\nApache-2.0). The upstream attribution file lists no separate source for them,\nso they are carried here under the upstream repository's terms. Corrections\nto the record are welcome.\n\n| Path | Contents |\n|------|----------|\n| `bigym/envs/xmls/props/dishwasher/assets` | textures + visual/collision OBJ meshes |\n| `bigym/envs/xmls/props/dish_drainer/assets` | `drying_rack.png` + visual/collision OBJ meshes |\n| `bigym/envs/xmls/props/sandwich/assets` | bread / cheese / tomato OBJ meshes + textures |\n| `bigym/envs/xmls/props/cube/cube.xml` | MJCF only (procedural primitive), repository code |\n\n---\n\n## 9. Upstream BiGym\n\n- **Component**: BiGym 2.0 is a hard fork of the original BiGym benchmark.\n  The environments, task suite and props derive from it.\n- **Path(s) in repo**: the repository as a whole (fork base).\n- **Upstream URL**: <https://github.com/NeuracoreAI/bigym>\n- **Paper**: N. Chernyadev, N. Backshall, X. Ma, Y. Lu, Y. Seo, S. James.\n  *BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark.*\n  CoRL 2024. <https://arxiv.org/abs/2407.07788>\n- **License**: Apache License 2.0 — see [`LICENSE`](LICENSE).\n\n---\n\n## 10. Code adapted from other projects\n\n- **mjlab** (<https://github.com/mujocolab/mjlab>):\n  `typings/generate_mujoco_stubs.sh` and `typings/postprocess_stubs.py` adapt\n  the files of the same names. Apache License 2.0, identical to this\n  repository's [`LICENSE`](LICENSE).\n",
  "BiGym2-ASSET-ATTRIBUTION.md": "# 3D Models Attribution\n\nAttribution for the 3D models in this repository. The models are used under the licenses below, some with modifications.\n\nRepository-wide third-party notices — robot models, policy weights and\ndependencies as well as these props — are in\n[`THIRD_PARTY_NOTICES.md`](../../../THIRD_PARTY_NOTICES.md).\n\n## License Summary\n\n| License | Models | Obligations |\n|---------|--------|-------------|\n| [CC0 1.0](https://creativecommons.org/publicdomain/zero/1.0/) | [Cutlery](#cutlery), [Tables](#tables), [Plate](#plate), [Mug](#mug), [Cutlery Tray](#cutlery-tray) | None (public domain dedication) |\n| [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) | [Groceries](#groceries), [Kitchen Set](#kitchen-set), [Kitchen Utensils](#kitchen-utensils) | Credit the author, link the license, state changes |\n| [Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0) (repository license) | [Box](#box) | None beyond the repository license (generated in-repo) |\n| [Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0) (packaging) + BSD-3-Clause (robot description) | [Unitree G1 Robot (body meshes)](#unitree-g1-robot-body-meshes) | Retain notices; see `bigym/envs/xmls/g1/LICENSE` |\n| BSD-3-Clause | [Unitree G1 Robot (with Dex1-1 grippers)](#unitree-g1-robot-with-dex1-1-grippers) | Retain copyright notice and disclaimer |\n| Upstream BiGym (Apache-2.0) | `props/dishwasher`, `props/dish_drainer`, `props/sandwich` assets | see `THIRD_PARTY_NOTICES.md` §8 |\n\n## Table of Contents\n\n- [Groceries](#groceries)\n- [Kitchen Set](#kitchen-set)\n- [Kitchen Utensils](#kitchen-utensils)\n- [Box](#box)\n- [Cutlery](#cutlery)\n- [Tables](#tables)\n- [Plate](#plate)\n- [Mug](#mug)\n- [Cutlery Tray](#cutlery-tray)\n- [Unitree G1 Robot (body meshes)](#unitree-g1-robot-body-meshes)\n- [Unitree G1 Robot (with Dex1-1 grippers)](#unitree-g1-robot-with-dex1-1-grippers)\n\n---\n\n## Groceries\n\n- **Asset(s)**: [`bigym/envs/xmls/props/groceries/assets`](props/groceries/assets)\n- **Author**: [tulex_art](https://sketchfab.com/CassioFernandes)\n- **Source**: [Sketchfab](https://skfb.ly/6RCNy)\n- **License**: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)\n\n---\n\n## Kitchen Set\n\n- **Asset(s)**: [`bigym/envs/xmls/props/kitchen/assets`](props/kitchen/assets)\n- **Author**: [RedKit](https://sketchfab.com/redkitpro)\n- **Source**: [Sketchfab](https://skfb.ly/6SXBW)\n- **License**: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)\n\n---\n\n## Kitchen Utensils\n\n- **Asset(s)**:\n  - [`bigym/envs/xmls/props/board/assets`](props/board/assets)\n  - [`bigym/envs/xmls/props/pan/assets`](props/pan/assets)\n  - [`bigym/envs/xmls/props/saucepan/assets`](props/saucepan/assets)\n  - [`bigym/envs/xmls/props/spatula/assets`](props/spatula/assets)\n  - [`bigym/envs/xmls/props/groceries/detergent/assets`](props/groceries/detergent/assets)\n  - [`bigym/envs/xmls/props/groceries/soap/assets`](props/groceries/soap/assets)\n  - [`bigym/envs/xmls/props/groceries/wine/assets`](props/groceries/wine/assets)\n- **Author**: [Nicolai Kilstrup](https://sketchfab.com/nkilstrup)\n- **Source**: [Sketchfab](https://skfb.ly/oFoUn)\n- **License**: [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/)\n\n---\n\n## Box\n\n- **Asset(s)**: [`bigym/envs/xmls/props/box/assets`](props/box/assets)\n  (`cardboard_procedural.png`)\n- **Author**: procedurally generated in-repo by\n  [`props/box/assets/make_cardboard_texture.py`](props/box/assets/make_cardboard_texture.py)\n- **Source**: synthesised with numpy/PIL from a fixed seed; re-running the\n  script reproduces it.\n- **License**: same as the repository —\n  [Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0)\n\n---\n\n## Cutlery\n\n- **Asset(s)**:\n  - [`bigym/envs/xmls/props/cutlery/knife/assets`](props/cutlery/knife/assets)\n  - [`bigym/envs/xmls/props/cutlery/fork/assets`](props/cutlery/fork/assets)\n  - [`bigym/envs/xmls/props/cutlery/spoon/assets`](props/cutlery/spoon/assets)\n- **Author**: [thebasemesh.com](https://thebasemesh.com)\n- **Source**: [thebasemesh.com](https://thebasemesh.com)\n- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)\n\n---\n\n## Tables\n\n- **Asset(s)**:\n  - [`bigym/envs/xmls/props/table/assets`](props/table/assets)\n  - [`bigym/envs/xmls/props/table_dishwasher/assets`](props/table_dishwasher/assets)\n- **Author**: [thebasemesh.com](https://thebasemesh.com)\n- **Source**: [thebasemesh.com](https://thebasemesh.com)\n- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)\n\n---\n\n## Plate\n\n- **Asset(s)**: [`bigym/envs/xmls/props/plate/assets`](props/plate/assets)\n- **Author**: [thebasemesh.com](https://thebasemesh.com)\n- **Source**: [thebasemesh.com](https://thebasemesh.com)\n- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)\n\n---\n\n## Mug\n\n- **Asset(s)**: [`bigym/envs/xmls/props/mug/assets`](props/mug/assets)\n- **Author**: [thebasemesh.com](https://thebasemesh.com)\n- **Source**: [thebasemesh.com](https://thebasemesh.com)\n- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)\n\n---\n\n## Cutlery Tray\n\n- **Asset(s)**: [`bigym/envs/xmls/props/cutlery_tray/assets`](props/cutlery_tray/assets)\n- **Author**: [thebasemesh.com](https://thebasemesh.com)\n- **Source**: [thebasemesh.com](https://thebasemesh.com)\n- **License**: [CC0](https://creativecommons.org/publicdomain/zero/1.0/)\n\n## Unitree G1 Robot (body meshes)\n\n- **Asset(s)**: the body STL meshes under `bigym/envs/xmls/g1/meshes/` (pelvis, legs, waist, torso, arms — every file other than the Dex1/5010 meshes below) and the MJCF body definitions above the wrist that `g1_29dof_with_dex1_1.xml` inherits\n- **Author**: [Unitree Robotics](https://github.com/unitreerobotics/unitree_ros) (robot description); MJCF packaging by the [AMO](https://github.com/OpenTeleVision/AMO) project (Jialong Li, Xuxin Cheng, Tianshu Huang, Xiaolong Wang)\n- **Source**: the [AMO](https://github.com/OpenTeleVision/AMO) project's MJCF packaging of the official Unitree G1 description.\n- **License**: Apache-2.0 for the AMO packaging (`bigym/envs/xmls/g1/LICENSE`); BSD-3-Clause for the Unitree description (`bigym/envs/xmls/g1/LICENSE.unitree`)\n\n---\n\n## Unitree G1 Robot (with Dex1-1 grippers)\n\n- **Asset(s)**: `bigym/envs/xmls/g1/g1_29dof_with_dex1_1.xml` + the Dex1/5010-wrist meshes (`Dex1_*.STL`, `dex1_col_*.stl`, `*_wrist_*_5010.STL`)\n- **Author**: [Unitree Robotics](https://github.com/unitreerobotics/unitree_ros) (robot description and meshes)\n- **Source**: `robots/g1_description/g1_29dof_mode_15_with_dex1_1.urdf` + meshes from [unitree_ros](https://github.com/unitreerobotics/unitree_ros)\n- **License**: BSD-3-Clause (`bigym/envs/xmls/g1/LICENSE.unitree`)\n\n---\n",
  "G1-LICENSE.txt": "Copyright [2025] [Jialong Li, Xuxin Cheng, Tianshu Huang, Xiaolong Wang]\n\nLicensed under the Apache License, Version 2.0 (the \"License\");\nyou may not use this file except in compliance with the License.\nYou may obtain a copy of the License at\n\n    http://www.apache.org/licenses/LICENSE-2.0\n\nUnless required by applicable law or agreed to in writing, software\ndistributed under the License is distributed on an \"AS IS\" BASIS,\nWITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\nSee the License for the specific language governing permissions and\nlimitations under the License.\n",
  "G1-LICENSE.unitree.txt": "BSD 3-Clause License\n\nCopyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. (\"Unitree Robotics\")\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without\nmodification, are permitted provided that the following conditions are met:\n\n* Redistributions of source code must retain the above copyright notice, this\n  list of conditions and the following disclaimer.\n\n* Redistributions in binary form must reproduce the above copyright notice,\n  this list of conditions and the following disclaimer in the documentation\n  and/or other materials provided with the distribution.\n\n* Neither the name of the copyright holder nor the names of its\n  contributors may be used to endorse or promote products derived from\n  this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\nAND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\nIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE\nFOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL\nDAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR\nSERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\nCAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,\nOR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE\nOF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n",
  "POLICY-LICENSE-STATUS": "UNSPECIFIED. Policy code is published in bigym2/bigym2.github.io at abf2b2f55127113f5997cbfc0bf765ff395c9a44 without an explicit license. No policy source is included in this gallery; do not infer Apache-2.0 or CC-BY-4.0 for it.",
  "DATASET-ATTRIBUTION": "BiGym2 authors: Zexi Zhang, Zecheng Zhu, Zidong Chen, Zulkhuu Tuya, Stephen James. Reference data: https://huggingface.co/datasets/SWIRL-Lab/bigym2-agent-rollouts/tree/67f5a76bbebabe2ccc81016cb5cba9bcefffbf23 ; dataset card specifies CC-BY-4.0 https://creativecommons.org/licenses/by/4.0/ . Gallery videos are newly rendered from local simulations; no dataset, robot mesh or model-weight archives redistributed. Local presentation camera and text overlay added."
}

{
  "Harness-MIT.txt": "MIT License\n\nCopyright (c) 2026 The embodied-astra-robomme authors\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "RoboMME-Apache2.txt": "                                 Apache License\n                           Version 2.0, January 2004\n                        http://www.apache.org/licenses/\n\n   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n   1. Definitions.\n\n      \"License\" shall mean the terms and conditions for use, reproduction,\n      and distribution as defined by Sections 1 through 9 of this document.\n\n      \"Licensor\" shall mean the copyright owner or entity authorized by\n      the copyright owner that is granting the License.\n\n      \"Legal Entity\" shall mean the union of the acting entity and all\n      other entities that control, are controlled by, or are under common\n      control with that entity. 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You may reproduce and distribute copies of the\n      Work or Derivative Works thereof in any medium, with or without\n      modifications, and in Source or Object form, provided that You\n      meet the following conditions:\n\n      (a) You must give any other recipients of the Work or\n          Derivative Works a copy of this License; and\n\n      (b) You must cause any modified files to carry prominent notices\n          stating that You changed the files; and\n\n      (c) You must retain, in the Source form of any Derivative Works\n          that You distribute, all copyright, patent, trademark, and\n          attribution notices from the Source form of the Work,\n          excluding those notices that do not pertain to any part of\n          the Derivative Works; and\n\n      (d) If the Work includes a \"NOTICE\" text file as part of its\n          distribution, then any Derivative Works that You distribute must\n          include a readable copy of the attribution notices contained\n          within such NOTICE file, excluding those notices that do not\n          pertain to any part of the Derivative Works, in at least one\n          of the following places: within a NOTICE text file distributed\n          as part of the Derivative Works; within the Source form or\n          documentation, if provided along with the Derivative Works; or,\n          within a display generated by the Derivative Works, if and\n          wherever such third-party notices normally appear. The contents\n          of the NOTICE file are for informational purposes only and\n          do not modify the License. You may add Your own attribution\n          notices within Derivative Works that You distribute, alongside\n          or as an addendum to the NOTICE text from the Work, provided\n          that such additional attribution notices cannot be construed\n          as modifying the License.\n\n      You may add Your own copyright statement to Your modifications and\n      may provide additional or different license terms and conditions\n      for use, reproduction, or distribution of Your modifications, or\n      for any such Derivative Works as a whole, provided Your use,\n      reproduction, and distribution of the Work otherwise complies with\n      the conditions stated in this License.\n\n   5. Submission of Contributions. Unless You explicitly state otherwise,\n      any Contribution intentionally submitted for inclusion in the Work\n      by You to the Licensor shall be under the terms and conditions of\n      this License, without any additional terms or conditions.\n      Notwithstanding the above, nothing herein shall supersede or modify\n      the terms of any separate license agreement you may have executed\n      with Licensor regarding such Contributions.\n\n   6. Trademarks. This License does not grant permission to use the trade\n      names, trademarks, service marks, or product names of the Licensor,\n      except as required for reasonable and customary use in describing the\n      origin of the Work and reproducing the content of the NOTICE file.\n\n   7. Disclaimer of Warranty. Unless required by applicable law or\n      agreed to in writing, Licensor provides the Work (and each\n      Contributor provides its Contributions) on an \"AS IS\" BASIS,\n      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or\n      implied, including, without limitation, any warranties or conditions\n      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A\n      PARTICULAR PURPOSE. You are solely responsible for determining the\n      appropriateness of using or redistributing the Work and assume any\n      risks associated with Your exercise of permissions under this License.\n\n   8. Limitation of Liability. In no event and under no legal theory,\n      whether in tort (including negligence), contract, or otherwise,\n      unless required by applicable law (such as deliberate and grossly\n      negligent acts) or agreed to in writing, shall any Contributor be\n      liable to You for damages, including any direct, indirect, special,\n      incidental, or consequential damages of any character arising as a\n      result of this License or out of the use or inability to use the\n      Work (including but not limited to damages for loss of goodwill,\n      work stoppage, computer failure or malfunction, or any and all\n      other commercial damages or losses), even if such Contributor\n      has been advised of the possibility of such damages.\n\n   9. Accepting Warranty or Additional Liability. While redistributing\n      the Work or Derivative Works thereof, You may choose to offer,\n      and charge a fee for, acceptance of support, warranty, indemnity,\n      or other liability obligations and/or rights consistent with this\n      License. However, in accepting such obligations, You may act only\n      on Your own behalf and on Your sole responsibility, not on behalf\n      of any other Contributor, and only if You agree to indemnify,\n      defend, and hold each Contributor harmless for any liability\n      incurred by, or claims asserted against, such Contributor by reason\n      of your accepting any such warranty or additional liability.\n\n   END OF TERMS AND CONDITIONS\n\n   APPENDIX: How to apply the Apache License to your work.\n\n      To apply the Apache License to your work, attach the following\n      boilerplate notice, with the fields enclosed by brackets \"[]\"\n      replaced with your own identifying information. (Don't include\n      the brackets!)  The text should be enclosed in the appropriate\n      comment syntax for the file format. We also recommend that a\n      file or class name and description of purpose be included on the\n      same \"printed page\" as the copyright notice for easier\n      identification within third-party archives.\n\n   Copyright [yyyy] [name of copyright owner]\n\n   Licensed under the Apache License, Version 2.0 (the \"License\");\n   you may not use this file except in compliance with the License.\n   You may obtain a copy of the License at\n\n       http://www.apache.org/licenses/LICENSE-2.0\n\n   Unless required by applicable law or agreed to in writing, software\n   distributed under the License is distributed on an \"AS IS\" BASIS,\n   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n   See the License for the specific language governing permissions and\n   limitations under the License.\n",
  "ManiSkill-Apache2.txt": "                                 Apache License\n                           Version 2.0, January 2004\n                        http://www.apache.org/licenses/\n\n   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n   1. Definitions.\n\n      \"License\" shall mean the terms and conditions for use, reproduction,\n      and distribution as defined by Sections 1 through 9 of this document.\n\n      \"Licensor\" shall mean the copyright owner or entity authorized by\n      the copyright owner that is granting the License.\n\n      \"Legal Entity\" shall mean the union of the acting entity and all\n      other entities that control, are controlled by, or are under common\n      control with that entity. For the purposes of this definition,\n      \"control\" means (i) the power, direct or indirect, to cause the\n      direction or management of such entity, whether by contract or\n      otherwise, or (ii) ownership of fifty percent (50%) or more of the\n      outstanding shares, or (iii) beneficial ownership of such entity.\n\n      \"You\" (or \"Your\") shall mean an individual or Legal Entity\n      exercising permissions granted by this License.\n\n      \"Source\" form shall mean the preferred form for making modifications,\n      including but not limited to software source code, documentation\n      source, and configuration files.\n\n      \"Object\" form shall mean any form resulting from mechanical\n      transformation or translation of a Source form, including but\n      not limited to compiled object code, generated documentation,\n      and conversions to other media types.\n\n      \"Work\" shall mean the work of authorship, whether in Source or\n      Object form, made available under the License, as indicated by a\n      copyright notice that is included in or attached to the work\n      (an example is provided in the Appendix below).\n\n      \"Derivative Works\" shall mean any work, whether in Source or Object\n      form, that is based on (or derived from) the Work and for which the\n      editorial revisions, annotations, elaborations, or other modifications\n      represent, as a whole, an original work of authorship. For the purposes\n      of this License, Derivative Works shall not include works that remain\n      separable from, or merely link (or bind by name) to the interfaces of,\n      the Work and Derivative Works thereof.\n\n      \"Contribution\" shall mean any work of authorship, including\n      the original version of the Work and any modifications or additions\n      to that Work or Derivative Works thereof, that is intentionally\n      submitted to Licensor for inclusion in the Work by the copyright owner\n      or by an individual or Legal Entity authorized to submit on behalf of\n      the copyright owner. For the purposes of this definition, \"submitted\"\n      means any form of electronic, verbal, or written communication sent\n      to the Licensor or its representatives, including but not limited to\n      communication on electronic mailing lists, source code control systems,\n      and issue tracking systems that are managed by, or on behalf of, the\n      Licensor for the purpose of discussing and improving the Work, but\n      excluding communication that is conspicuously marked or otherwise\n      designated in writing by the copyright owner as \"Not a Contribution.\"\n\n      \"Contributor\" shall mean Licensor and any individual or Legal Entity\n      on behalf of whom a Contribution has been received by Licensor and\n      subsequently incorporated within the Work.\n\n   2. Grant of Copyright License. Subject to the terms and conditions of\n      this License, each Contributor hereby grants to You a perpetual,\n      worldwide, non-exclusive, no-charge, royalty-free, irrevocable\n      copyright license to reproduce, prepare Derivative Works of,\n      publicly display, publicly perform, sublicense, and distribute the\n      Work and such Derivative Works in Source or Object form.\n\n   3. Grant of Patent License. Subject to the terms and conditions of\n      this License, each Contributor hereby grants to You a perpetual,\n      worldwide, non-exclusive, no-charge, royalty-free, irrevocable\n      (except as stated in this section) patent license to make, have made,\n      use, offer to sell, sell, import, and otherwise transfer the Work,\n      where such license applies only to those patent claims licensable\n      by such Contributor that are necessarily infringed by their\n      Contribution(s) alone or by combination of their Contribution(s)\n      with the Work to which such Contribution(s) was submitted. If You\n      institute patent litigation against any entity (including a\n      cross-claim or counterclaim in a lawsuit) alleging that the Work\n      or a Contribution incorporated within the Work constitutes direct\n      or contributory patent infringement, then any patent licenses\n      granted to You under this License for that Work shall terminate\n      as of the date such litigation is filed.\n\n   4. Redistribution. You may reproduce and distribute copies of the\n      Work or Derivative Works thereof in any medium, with or without\n      modifications, and in Source or Object form, provided that You\n      meet the following conditions:\n\n      (a) You must give any other recipients of the Work or\n          Derivative Works a copy of this License; and\n\n      (b) You must cause any modified files to carry prominent notices\n          stating that You changed the files; and\n\n      (c) You must retain, in the Source form of any Derivative Works\n          that You distribute, all copyright, patent, trademark, and\n          attribution notices from the Source form of the Work,\n          excluding those notices that do not pertain to any part of\n          the Derivative Works; and\n\n      (d) If the Work includes a \"NOTICE\" text file as part of its\n          distribution, then any Derivative Works that You distribute must\n          include a readable copy of the attribution notices contained\n          within such NOTICE file, excluding those notices that do not\n          pertain to any part of the Derivative Works, in at least one\n          of the following places: within a NOTICE text file distributed\n          as part of the Derivative Works; within the Source form or\n          documentation, if provided along with the Derivative Works; or,\n          within a display generated by the Derivative Works, if and\n          wherever such third-party notices normally appear. The contents\n          of the NOTICE file are for informational purposes only and\n          do not modify the License. You may add Your own attribution\n          notices within Derivative Works that You distribute, alongside\n          or as an addendum to the NOTICE text from the Work, provided\n          that such additional attribution notices cannot be construed\n          as modifying the License.\n\n      You may add Your own copyright statement to Your modifications and\n      may provide additional or different license terms and conditions\n      for use, reproduction, or distribution of Your modifications, or\n      for any such Derivative Works as a whole, provided Your use,\n      reproduction, and distribution of the Work otherwise complies with\n      the conditions stated in this License.\n\n   5. Submission of Contributions. Unless You explicitly state otherwise,\n      any Contribution intentionally submitted for inclusion in the Work\n      by You to the Licensor shall be under the terms and conditions of\n      this License, without any additional terms or conditions.\n      Notwithstanding the above, nothing herein shall supersede or modify\n      the terms of any separate license agreement you may have executed\n      with Licensor regarding such Contributions.\n\n   6. Trademarks. This License does not grant permission to use the trade\n      names, trademarks, service marks, or product names of the Licensor,\n      except as required for reasonable and customary use in describing the\n      origin of the Work and reproducing the content of the NOTICE file.\n\n   7. Disclaimer of Warranty. Unless required by applicable law or\n      agreed to in writing, Licensor provides the Work (and each\n      Contributor provides its Contributions) on an \"AS IS\" BASIS,\n      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or\n      implied, including, without limitation, any warranties or conditions\n      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A\n      PARTICULAR PURPOSE. You are solely responsible for determining the\n      appropriateness of using or redistributing the Work and assume any\n      risks associated with Your exercise of permissions under this License.\n\n   8. Limitation of Liability. In no event and under no legal theory,\n      whether in tort (including negligence), contract, or otherwise,\n      unless required by applicable law (such as deliberate and grossly\n      negligent acts) or agreed to in writing, shall any Contributor be\n      liable to You for damages, including any direct, indirect, special,\n      incidental, or consequential damages of any character arising as a\n      result of this License or out of the use or inability to use the\n      Work (including but not limited to damages for loss of goodwill,\n      work stoppage, computer failure or malfunction, or any and all\n      other commercial damages or losses), even if such Contributor\n      has been advised of the possibility of such damages.\n\n   9. Accepting Warranty or Additional Liability. While redistributing\n      the Work or Derivative Works thereof, You may choose to offer,\n      and charge a fee for, acceptance of support, warranty, indemnity,\n      or other liability obligations and/or rights consistent with this\n      License. However, in accepting such obligations, You may act only\n      on Your own behalf and on Your sole responsibility, not on behalf\n      of any other Contributor, and only if You agree to indemnify,\n      defend, and hold each Contributor harmless for any liability\n      incurred by, or claims asserted against, such Contributor by reason\n      of your accepting any such warranty or additional liability.\n\n   END OF TERMS AND CONDITIONS\n\n   APPENDIX: How to apply the Apache License to your work.\n\n      To apply the Apache License to your work, attach the following\n      boilerplate notice, with the fields enclosed by brackets \"[]\"\n      replaced with your own identifying information. (Don't include\n      the brackets!)  The text should be enclosed in the appropriate\n      comment syntax for the file format. We also recommend that a\n      file or class name and description of purpose be included on the\n      same \"printed page\" as the copyright notice for easier\n      identification within third-party archives.\n\n   Copyright [yyyy] [name of copyright owner]\n\n   Licensed under the Apache License, Version 2.0 (the \"License\");\n   you may not use this file except in compliance with the License.\n   You may obtain a copy of the License at\n\n       http://www.apache.org/licenses/LICENSE-2.0\n\n   Unless required by applicable law or agreed to in writing, software\n   distributed under the License is distributed on an \"AS IS\" BASIS,\n   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n   See the License for the specific language governing permissions and\n   limitations under the License.\n",
  "ASSET-NOTE": "Local simulation renders only. Robot/table asset files are not redistributed; separate asset redistribution permissions were not exhaustively verified."
}

{
  "OpenArm-Apache2-LICENSE": "                                 Apache License\n                           Version 2.0, January 2004\n                        http://www.apache.org/licenses/\n\n   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n   1. Definitions.\n\n      \"License\" shall mean the terms and conditions for use, reproduction,\n      and distribution as defined by Sections 1 through 9 of this document.\n\n      \"Licensor\" shall mean the copyright owner or entity authorized by\n      the copyright owner that is granting the License.\n\n      \"Legal Entity\" shall mean the union of the acting entity and all\n      other entities that control, are controlled by, or are under common\n      control with that entity. For the purposes of this definition,\n      \"control\" means (i) the power, direct or indirect, to cause the\n      direction or management of such entity, whether by contract or\n      otherwise, or (ii) ownership of fifty percent (50%) or more of the\n      outstanding shares, or (iii) beneficial ownership of such entity.\n\n      \"You\" (or \"Your\") shall mean an individual or Legal Entity\n      exercising permissions granted by this License.\n\n      \"Source\" form shall mean the preferred form for making modifications,\n      including but not limited to software source code, documentation\n      source, and configuration files.\n\n      \"Object\" form shall mean any form resulting from mechanical\n      transformation or translation of a Source form, including but\n      not limited to compiled object code, generated documentation,\n      and conversions to other media types.\n\n      \"Work\" shall mean the work of authorship, whether in Source or\n      Object form, made available under the License, as indicated by a\n      copyright notice that is included in or attached to the work\n      (an example is provided in the Appendix below).\n\n      \"Derivative Works\" shall mean any work, whether in Source or Object\n      form, that is based on (or derived from) the Work and for which the\n      editorial revisions, annotations, elaborations, or other modifications\n      represent, as a whole, an original work of authorship. For the purposes\n      of this License, Derivative Works shall not include works that remain\n      separable from, or merely link (or bind by name) to the interfaces of,\n      the Work and Derivative Works thereof.\n\n      \"Contribution\" shall mean any work of authorship, including\n      the original version of the Work and any modifications or additions\n      to that Work or Derivative Works thereof, that is intentionally\n      submitted to Licensor for inclusion in the Work by the copyright owner\n      or by an individual or Legal Entity authorized to submit on behalf of\n      the copyright owner. For the purposes of this definition, \"submitted\"\n      means any form of electronic, verbal, or written communication sent\n      to the Licensor or its representatives, including but not limited to\n      communication on electronic mailing lists, source code control systems,\n      and issue tracking systems that are managed by, or on behalf of, the\n      Licensor for the purpose of discussing and improving the Work, but\n      excluding communication that is conspicuously marked or otherwise\n      designated in writing by the copyright owner as \"Not a Contribution.\"\n\n      \"Contributor\" shall mean Licensor and any individual or Legal Entity\n      on behalf of whom a Contribution has been received by Licensor and\n      subsequently incorporated within the Work.\n\n   2. Grant of Copyright License. Subject to the terms and conditions of\n      this License, each Contributor hereby grants to You a perpetual,\n      worldwide, non-exclusive, no-charge, royalty-free, irrevocable\n      copyright license to reproduce, prepare Derivative Works of,\n      publicly display, publicly perform, sublicense, and distribute the\n      Work and such Derivative Works in Source or Object form.\n\n   3. Grant of Patent License. Subject to the terms and conditions of\n      this License, each Contributor hereby grants to You a perpetual,\n      worldwide, non-exclusive, no-charge, royalty-free, irrevocable\n      (except as stated in this section) patent license to make, have made,\n      use, offer to sell, sell, import, and otherwise transfer the Work,\n      where such license applies only to those patent claims licensable\n      by such Contributor that are necessarily infringed by their\n      Contribution(s) alone or by combination of their Contribution(s)\n      with the Work to which such Contribution(s) was submitted. If You\n      institute patent litigation against any entity (including a\n      cross-claim or counterclaim in a lawsuit) alleging that the Work\n      or a Contribution incorporated within the Work constitutes direct\n      or contributory patent infringement, then any patent licenses\n      granted to You under this License for that Work shall terminate\n      as of the date such litigation is filed.\n\n   4. Redistribution. You may reproduce and distribute copies of the\n      Work or Derivative Works thereof in any medium, with or without\n      modifications, and in Source or Object form, provided that You\n      meet the following conditions:\n\n      (a) You must give any other recipients of the Work or\n          Derivative Works a copy of this License; and\n\n      (b) You must cause any modified files to carry prominent notices\n          stating that You changed the files; and\n\n      (c) You must retain, in the Source form of any Derivative Works\n          that You distribute, all copyright, patent, trademark, and\n          attribution notices from the Source form of the Work,\n          excluding those notices that do not pertain to any part of\n          the Derivative Works; and\n\n      (d) If the Work includes a \"NOTICE\" text file as part of its\n          distribution, then any Derivative Works that You distribute must\n          include a readable copy of the attribution notices contained\n          within such NOTICE file, excluding those notices that do not\n          pertain to any part of the Derivative Works, in at least one\n          of the following places: within a NOTICE text file distributed\n          as part of the Derivative Works; within the Source form or\n          documentation, if provided along with the Derivative Works; or,\n          within a display generated by the Derivative Works, if and\n          wherever such third-party notices normally appear. The contents\n          of the NOTICE file are for informational purposes only and\n          do not modify the License. You may add Your own attribution\n          notices within Derivative Works that You distribute, alongside\n          or as an addendum to the NOTICE text from the Work, provided\n          that such additional attribution notices cannot be construed\n          as modifying the License.\n\n      You may add Your own copyright statement to Your modifications and\n      may provide additional or different license terms and conditions\n      for use, reproduction, or distribution of Your modifications, or\n      for any such Derivative Works as a whole, provided Your use,\n      reproduction, and distribution of the Work otherwise complies with\n      the conditions stated in this License.\n\n   5. Submission of Contributions. Unless You explicitly state otherwise,\n      any Contribution intentionally submitted for inclusion in the Work\n      by You to the Licensor shall be under the terms and conditions of\n      this License, without any additional terms or conditions.\n      Notwithstanding the above, nothing herein shall supersede or modify\n      the terms of any separate license agreement you may have executed\n      with Licensor regarding such Contributions.\n\n   6. Trademarks. This License does not grant permission to use the trade\n      names, trademarks, service marks, or product names of the Licensor,\n      except as required for reasonable and customary use in describing the\n      origin of the Work and reproducing the content of the NOTICE file.\n\n   7. Disclaimer of Warranty. Unless required by applicable law or\n      agreed to in writing, Licensor provides the Work (and each\n      Contributor provides its Contributions) on an \"AS IS\" BASIS,\n      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or\n      implied, including, without limitation, any warranties or conditions\n      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A\n      PARTICULAR PURPOSE. You are solely responsible for determining the\n      appropriateness of using or redistributing the Work and assume any\n      risks associated with Your exercise of permissions under this License.\n\n   8. Limitation of Liability. In no event and under no legal theory,\n      whether in tort (including negligence), contract, or otherwise,\n      unless required by applicable law (such as deliberate and grossly\n      negligent acts) or agreed to in writing, shall any Contributor be\n      liable to You for damages, including any direct, indirect, special,\n      incidental, or consequential damages of any character arising as a\n      result of this License or out of the use or inability to use the\n      Work (including but not limited to damages for loss of goodwill,\n      work stoppage, computer failure or malfunction, or any and all\n      other commercial damages or losses), even if such Contributor\n      has been advised of the possibility of such damages.\n\n   9. Accepting Warranty or Additional Liability. While redistributing\n      the Work or Derivative Works thereof, You may choose to offer,\n      and charge a fee for, acceptance of support, warranty, indemnity,\n      or other liability obligations and/or rights consistent with this\n      License. However, in accepting such obligations, You may act only\n      on Your own behalf and on Your sole responsibility, not on behalf\n      of any other Contributor, and only if You agree to indemnify,\n      defend, and hold each Contributor harmless for any liability\n      incurred by, or claims asserted against, such Contributor by reason\n      of your accepting any such warranty or additional liability.\n\n   END OF TERMS AND CONDITIONS\n\n   APPENDIX: How to apply the Apache License to your work.\n\n      To apply the Apache License to your work, attach the following\n      boilerplate notice, with the fields enclosed by brackets \"[]\"\n      replaced with your own identifying information. (Don't include\n      the brackets!)  The text should be enclosed in the appropriate\n      comment syntax for the file format. We also recommend that a\n      file or class name and description of purpose be included on the\n      same \"printed page\" as the copyright notice for easier\n      identification within third-party archives.\n\n   Copyright 2025 Enactic, Inc.\n\n   Licensed under the Apache License, Version 2.0 (the \"License\");\n   you may not use this file except in compliance with the License.\n   You may obtain a copy of the License at\n\n       http://www.apache.org/licenses/LICENSE-2.0\n\n   Unless required by applicable law or agreed to in writing, software\n   distributed under the License is distributed on an \"AS IS\" BASIS,\n   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n   See the License for the specific language governing permissions and\n   limitations under the License.\n",
  "UPSTREAM-NOTICE": "OpenArm Mona Lisa — LeRobot ACT\n\nThe robot MJCF and mesh assets are derived from OpenArm MuJoCo.\nCopyright 2025–2026 Enactic, Inc.\nhttps://github.com/enactic/openarm_mujoco\nApache License 2.0. The original license is in assets/OPENARM-LICENSE.\nModifications: right-arm scene, mounted brush, table/canvas/palette geometry,\nlighting and rendering configuration. Original arm inertias and actuators retained.\n\nLeRobot is a separately installed dependency, Apache License 2.0, with copyrights\nheld by Hugging Face Inc., Tony Z. Zhao and the upstream contributors as indicated\nin its source files. Its ACT and OpenArm driver implementations are used directly.\n\nThe Mona Lisa painting and the included C2RMF reference reproduction are public domain.\nSource and attribution are recorded in provenance.json.\n",
  "LOCAL-ATTRIBUTION": "HIM Arena project shared by e. Enactic OpenArm assets Apache-2.0; LeRobot ACT by Hugging Face and contributors Apache-2.0; Mona Lisa by Leonardo da Vinci, public-domain C2RMF reproduction. Gallery media newly generated by local native simulation. No author source, weights, robot assets or original author video bundled.",
  "SCOPE": "Included Apache-2.0 text identifies Enactic assets; no separate license for new author source/checkpoint is asserted."
}

{
  "LOCAL-ATTRIBUTION": "Jianglong Ye / Dexterous Astra. New local simulation media; original code/checkpoints/meshes/author footage are not redistributed.",
  "Wuji-assets": "wuji-technology/wuji-description @4c1073d0a3ad1daaf6546d219db751d8448d3888 — MIT.",
  "MuJoCo-cube-assets": "google-deepmind/mujoco @6783903ffece5bcbc2f8c73ba44975df86f33b9e — Apache-2.0.",
  "Project-license": "No overall project license found at pinned source; no claim that asset licenses cover the project.",
  "Wuji-MIT-LICENSE.txt": "MIT License\n\nCopyright (c) 2025 Wuji Technology\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "MuJoCo-Apache2-LICENSE.txt": "\n                                 Apache License\n                           Version 2.0, January 2004\n                        http://www.apache.org/licenses/\n\n   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n   1. Definitions.\n\n      \"License\" shall mean the terms and conditions for use, reproduction,\n      and distribution as defined by Sections 1 through 9 of this document.\n\n      \"Licensor\" shall mean the copyright owner or entity authorized by\n      the copyright owner that is granting the License.\n\n      \"Legal Entity\" shall mean the union of the acting entity and all\n      other entities that control, are controlled by, or are under common\n      control with that entity. For the purposes of this definition,\n      \"control\" means (i) the power, direct or indirect, to cause the\n      direction or management of such entity, whether by contract or\n      otherwise, or (ii) ownership of fifty percent (50%) or more of the\n      outstanding shares, or (iii) beneficial ownership of such entity.\n\n      \"You\" (or \"Your\") shall mean an individual or Legal Entity\n      exercising permissions granted by this License.\n\n      \"Source\" form shall mean the preferred form for making modifications,\n      including but not limited to software source code, documentation\n      source, and configuration files.\n\n      \"Object\" form shall mean any form resulting from mechanical\n      transformation or translation of a Source form, including but\n      not limited to compiled object code, generated documentation,\n      and conversions to other media types.\n\n      \"Work\" shall mean the work of authorship, whether in Source or\n      Object form, made available under the License, as indicated by a\n      copyright notice that is included in or attached to the work\n      (an example is provided in the Appendix below).\n\n      \"Derivative Works\" shall mean any work, whether in Source or Object\n      form, that is based on (or derived from) the Work and for which the\n      editorial revisions, annotations, elaborations, or other modifications\n      represent, as a whole, an original work of authorship. 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The text should be enclosed in the appropriate\n      comment syntax for the file format. We also recommend that a\n      file or class name and description of purpose be included on the\n      same \"printed page\" as the copyright notice for easier\n      identification within third-party archives.\n\n   Copyright [yyyy] [name of copyright owner]\n\n   Licensed under the Apache License, Version 2.0 (the \"License\");\n   you may not use this file except in compliance with the License.\n   You may obtain a copy of the License at\n\n       http://www.apache.org/licenses/LICENSE-2.0\n\n   Unless required by applicable law or agreed to in writing, software\n   distributed under the License is distributed on an \"AS IS\" BASIS,\n   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n   See the License for the specific language governing permissions and\n   limitations under the License.\n"
}

{
  "project_url": "https://huggingface.co/buckets/mishig/so101-block-sorting",
  "author": "mishig",
  "license": "Apache-2.0",
  "robot_project": "https://github.com/TheRobotStudio/SO-ARM100/tree/eecbe3e0a9ebb23e25ad7b2759b03884c6660903/Simulation/SO101",
  "license_file": "data/licenses/so101-block-LICENSE.txt",
  "notices_file": "data/licenses/so101-block-NOTICES.md",
  "media": "Locally generated native RGB capture; no author example movies bundled",
  "astra_attribution": "unverified"
}

{
  "project_url": "https://huggingface.co/buckets/mishig/so101-painting",
  "author": "mishig",
  "license": "Robot assets: Apache-2.0; Inter font: SIL-OFL-1.1",
  "robot_project": "https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation/SO101",
  "license_file": "data/licenses/so101-painting-LICENSE.txt",
  "font_license_file": "data/licenses/so101-painting-Inter-LICENSE.txt",
  "notices_file": "data/licenses/so101-painting-ATTRIBUTION.txt",
  "media": "Locally generated native RGB recordings and rectified camera images; no author example movies, source or weights bundled",
  "astra_attribution": "unverified"
}

{
  "project_url": "https://github.com/benchflow-ai/robouse",
  "source_commit": "19b644846cdc5cac70fb16b866eb08501db8f0cc",
  "author": "RoboUse contributors; Skydio X2 model from MuJoCo Menagerie",
  "license": "RoboUse Apache-2.0 with bundled notices; Skydio model Apache-2.0",
  "license_file": "data/licenses/robouse-LICENSE.txt",
  "notices_file": "data/licenses/robouse-NOTICE.txt",
  "robot_license_file": "data/licenses/robouse-skydio-LICENSE.txt",
  "media": "Locally generated native simulation video and actor-viewed native PNG; source/assets not bundled"
}

{
  "project_url": "https://github.com/hesd10/astra-robot-sim2real",
  "source_commit": "e324643f03d05656f49bc4fc575759fd46cb9fe0",
  "author": "hesd10 / astra-robot-sim2real; XLeRobot contributors",
  "license": "Project-wide license unspecified; XLeRobot component Apache-2.0",
  "component_license_file": "data/licenses/astra-experience-XLeRobot-Apache-2.0.txt",
  "media": "Locally generated native state-log video and current-run camera image; no source, prompts or private logs bundled"
}

{
  "project_url": "https://github.com/nssmd/robot-vllm",
  "source_commit": "58b13f422e8c1b58d606e467152d8d711e1c5b3f",
  "author": "nssmd / robot-vllm contributors",
  "license": "Apache-2.0",
  "license_file": "data/licenses/robot-vllm-Apache-2.0.txt",
  "media": "Locally generated saved-pose visualization with original camera; no source, model weights or private actor transcripts bundled"
}

{
  "project": "Quackd by Rok Benko and contributors",
  "project_url": "https://github.com/rokbenko/quackd/tree/92224c9f3795e1c770e3c8d5043bb607a11890fb",
  "source_commit": "92224c9f3795e1c770e3c8d5043bb607a11890fb",
  "source_license": "Apache-2.0",
  "license_file": "data/licenses/quackd-Apache-2.0.txt",
  "third_party_notice": "data/licenses/quackd-NOTICE.txt",
  "asset_attribution_file": "data/licenses/quackd-assets-and-media.txt",
  "robot_assets": "Pollen Robotics microduck_rl@2b25a48b08f1f17bc38c90bb03144c81fbd9ed07; CC BY-SA-NC, upstream README does not specify version",
  "policy": "Pollen Robotics microduck-policies@6677ec007142bbaf05123a468f6ae58d13808786; Apache-2.0",
  "media": "Locally generated native sampled simulation views; retain model attribution/non-commercial/share-alike terms; no meshes/policies bundled"
}

{
  "project": "ManiLoop contributors",
  "project_url": "https://github.com/Daniel-rmc/ManiLoop/tree/8de9bcb3198cdbdfc5b137da54d49368a98c3e97",
  "source_commit": "8de9bcb3198cdbdfc5b137da54d49368a98c3e97",
  "source_license": "MIT",
  "license_file": "data/licenses/maniloop-MIT.txt",
  "robot_asset_notice": "ARX5 SDK assets: Copyright (c) 2024 Yihuai Gao, MIT",
  "robot_license_file": "data/licenses/maniloop-ARX5-MIT.txt",
  "media": "Locally generated labeled before/after/final sampled-image presentation; no source/robot assets bundled."
}

{
  "controller-MIT.txt": "MIT License\n\nCopyright (c) 2026 Dmitry Hrybov\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "kinova-BSD-3-Clause.txt": "Copyright (c) 2018, Kinova inc.\n\nRedistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:\n\n1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.\n\n2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.\n\n3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n",
  "robotiq-BSD-2-Clause.txt": "Copyright (c) 2013, ROS-Industrial\nAll rights reserved.\n\nRedistribution and use in source and binary forms, with or without modification,\nare permitted provided that the following conditions are met:\n\n  Redistributions of source code must retain the above copyright notice, this\n  list of conditions and the following disclaimer.\n\n  Redistributions in binary form must reproduce the above copyright notice, this\n  list of conditions and the following disclaimer in the documentation and/or\n  other materials provided with the distribution.\n\nTHIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\" AND\nANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED\nWARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE\nDISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR\nANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES\n(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\nLOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON\nANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT\n(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS\nSOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.\n",
  "media-provenance.txt": "Locally rendered recorded qpos from a frozen Astra-authored candidate. Original controller MIT / Kinova BSD-3-Clause / Robotiq BSD-2-Clause notices retained. No raw source, meshes or actor logs bundled."
}

{
  "WorldCoder-LICENSE.txt": "MIT License\n\nCopyright (c) 2024 Hao Tang\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "SOURCE": "https://github.com/haotang1995/WorldCoder",
  "MEDIA": "Locally recorded MiniGrid trajectories; raw API requests and credentials are excluded."
}

{
  "See2Act-LICENSE.txt": "MIT License\n\nCopyright (c) 2026 Kuancheng Wang\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "SOURCE": "https://github.com/KuanchengWang/See2Act",
  "MEDIA": "Locally recorded native policy execution; simulation assets remain credited to the upstream project."
}

{
  "SOURCE": "https://github.com/DLR-RM/IROSA",
  "IROSA-LICENSE.txt": "MIT License\n\nCopyright (c) 2025 German Aerospace Center (DLR), Institute of Robotics and Mechatronics\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in all\ncopies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\nSOFTWARE.\n",
  "MEDIA": "Locally recorded PyBullet KUKA scenes using upstream assets. Our independent DIRECT adapter is disclosed per card."
}

{
  "project": "TD-MPC2 — Nicklas Hansen, Hao Su, Xiaolong Wang (ICLR 2024)",
  "project_url": "https://github.com/nicklashansen/tdmpc2",
  "source_commit": "332f19e4aba4bffe2dc736f45ea7f7bdc585903a",
  "source_license": "MIT",
  "copyright": "Copyright (c) Nicklas Hansen (2023).",
  "license_file": "data/licenses/tdmpc2-MIT.txt",
  "license_sha256": "7d7b54eb0e35f99c55718713ba21a48f179d100d70d6b168ec56022565ed4946",
  "checkpoint_url": "https://huggingface.co/nicklashansen/tdmpc2/resolve/8fb2a82efb3bae96941da440128fe1332e4394fd/dmcontrol/quadruped-run-1.pt",
  "checkpoint_revision": "8fb2a82efb3bae96941da440128fe1332e4394fd",
  "checkpoint_license": "MIT (author model card)",
  "environment": "DeepMind Control Suite 1.0.16 quadruped-run, MuJoCo 3.1.2",
  "environment_licenses": [
    {
      "project": "DeepMind Control Suite",
      "license": "Apache-2.0",
      "file": "data/licenses/tdmpc2-dm-control-Apache-2.0.txt",
      "sha256": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30"
    },
    {
      "project": "MuJoCo",
      "license": "Apache-2.0",
      "file": "data/licenses/tdmpc2-mujoco-Apache-2.0.txt",
      "sha256": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30"
    }
  ],
  "modifications": "Unchanged official evaluator and checkpoint, compile=false, CPU OSMesa renders, passive telemetry. Native 15 fps videos copied without re-encoding; diagnostic plots generated locally from recorded steps.",
  "distribution": "Local rendered media and numeric evidence only. No checkpoints, simulator source, private paths, API logs or credentials distributed.",
  "applies_to": [
    "tdmpc2-quadruped-native-three"
  ]
}

{
  "project": "MemS — Spatial Memory contributors",
  "project_url": "https://github.com/darthjaja6/MemS",
  "source_commit": "f8a49bfd4d32928307642b3704730c70b97212a7",
  "source_license": "MIT",
  "copyright": "Copyright (c) 2026 Spatial Memory contributors",
  "license_file": "data/licenses/mems-visual-memory-libero-three/MemS-MIT.txt",
  "license_sha256": "13c89d9cc53a1a8b14014081ceac465e92ca5c4e8341d316d25cc8aee51e1735",
  "environment": "LIBERO / robosuite 1.4.0 / MuJoCo 2.3.7; official Panda task and initial states",
  "environment_licenses": [
    {
      "project": "LIBERO",
      "source_commit": "8f1084e3132a39270c3a13ebe37270a43ece2a01",
      "license": "MIT",
      "file": "data/licenses/mems-visual-memory-libero-three/LIBERO-MIT.txt",
      "sha256": "e2885fd30a08381b799c4a33385522b23d637b4051b8f9a7f9f2519944b68ff6"
    },
    {
      "project": "robosuite 1.4.0",
      "license": "MIT",
      "file": "data/licenses/mems-visual-memory-libero-three/robosuite-MIT.txt",
      "sha256": "cbc6f509c69f14e2e801f4e6506bc263b00fa4e3ec2b70d428a5ea0a9c676853"
    },
    {
      "project": "MuJoCo 2.3.7",
      "license": "Apache-2.0",
      "file": "data/licenses/tdmpc2-mujoco-Apache-2.0.txt",
      "sha256": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30"
    }
  ],
  "modifications": "Partial MemS geometry/scene/assets API adapted to official LIBERO with a native OSC pose servo. No upstream RoboDojo or full motion-planning stack claim.",
  "distribution": "Local rendered media, copied observed RGB and sanitized numeric evidence only. No model traces, private logs, simulator/source/dataset archives or credentials distributed.",
  "license_scope": "These are source-code notices, not a claim that all third-party textures or datasets inherit the MemS MIT license.",
  "applies_to": [
    "mems-visual-memory-libero-three"
  ]
}

{
  "project": "MemS — Spatial Memory contributors",
  "project_url": "https://github.com/darthjaja6/MemS",
  "source_commit": "f8a49bfd4d32928307642b3704730c70b97212a7",
  "source_license": "MIT",
  "copyright": "Copyright (c) 2026 Spatial Memory contributors",
  "license_file": "data/licenses/mems-visual-memory-libero-three/MemS-MIT.txt",
  "license_sha256": "13c89d9cc53a1a8b14014081ceac465e92ca5c4e8341d316d25cc8aee51e1735",
  "environment": "LIBERO / robosuite 1.4.0 / MuJoCo 2.3.7; official Panda task and initial states",
  "environment_licenses": [
    {
      "project": "LIBERO",
      "source_commit": "8f1084e3132a39270c3a13ebe37270a43ece2a01",
      "license": "MIT",
      "file": "data/licenses/mems-visual-memory-libero-three/LIBERO-MIT.txt",
      "sha256": "e2885fd30a08381b799c4a33385522b23d637b4051b8f9a7f9f2519944b68ff6"
    },
    {
      "project": "robosuite 1.4.0",
      "license": "MIT",
      "file": "data/licenses/mems-visual-memory-libero-three/robosuite-MIT.txt",
      "sha256": "cbc6f509c69f14e2e801f4e6506bc263b00fa4e3ec2b70d428a5ea0a9c676853"
    },
    {
      "project": "MuJoCo 2.3.7",
      "license": "Apache-2.0",
      "file": "data/licenses/tdmpc2-mujoco-Apache-2.0.txt",
      "sha256": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30"
    }
  ],
  "modifications": "Partial MemS geometry/scene/assets API adapted to official LIBERO with a native OSC pose servo. No upstream RoboDojo or full motion-planning stack claim. Local one-shot external-force disturbance, visual relocalization and recovery experiment.",
  "distribution": "Local rendered media, copied observed RGB and sanitized numeric evidence only. No model traces, private logs, simulator/source/dataset archives or credentials distributed.",
  "license_scope": "These are source-code notices, not a claim that all third-party textures or datasets inherit the MemS MIT license.",
  "applies_to": [
    "mems-target-shift-libero-three"
  ]
}

{
  "applies_to": [
    "openrua-astra-skill-reuse-local"
  ],
  "project": "OpenRUA contributors",
  "license": "Apache-2.0",
  "source_url": "https://github.com/terminalworld/OpenRUA",
  "source_commit": "ebcbbe714d254930e5c3cc9d184a99004c278b39",
  "license_file": "licenses/openrua-astra-skill-reuse-local-OpenRUA-Apache-2.0.txt",
  "license_sha256": "c71d239df91726fc519c6eb72d318ec65820627232b2f796219e87dcf35d0ab4",
  "environment_licenses": [
    {
      "project": "CaP-X",
      "license": "MIT",
      "source": "https://github.com/capgym/cap-x",
      "file": "licenses/openrua-astra-skill-reuse-local-cap-x-LICENSE.txt",
      "sha256": "ad82ce2e6eb6e594af189655ae2f1592d0c91649d2745ad715c65850126cc6cc"
    },
    {
      "project": "LIBERO-PRO / LIBERO",
      "license": "MIT",
      "source": "https://github.com/uynitsuj/LIBERO-PRO",
      "file": "licenses/openrua-astra-skill-reuse-local-libero-pro-LICENSE.txt",
      "sha256": "e2885fd30a08381b799c4a33385522b23d637b4051b8f9a7f9f2519944b68ff6"
    },
    {
      "project": "robosuite fork",
      "license": "MIT with MuJoCo Apache notice",
      "source": "https://github.com/Max-Fu/robosuite",
      "file": "licenses/openrua-astra-skill-reuse-local-robosuite-LICENSE.txt",
      "sha256": "177978cbece0a4c454c2aaec5b3f145b39270814874c43109da9e829c39d9cba"
    },
    {
      "project": "MuJoCo 3.3.7",
      "license": "Apache-2.0",
      "source": "https://github.com/google-deepmind/mujoco",
      "file": "licenses/openrua-astra-skill-reuse-local-mujoco-LICENSE.txt",
      "sha256": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30"
    },
    {
      "project": "MuJoCo third-party notices",
      "license": "Various",
      "source": "https://github.com/google-deepmind/mujoco",
      "file": "licenses/openrua-astra-skill-reuse-local-mujoco-LICENSES_THIRD_PARTY.md.txt",
      "sha256": "62547d50857e51b2021f0df550982a6829954668ba4765b7739344a7e2386941"
    }
  ],
  "native_image_id": "sha256:ceefa9f597b9d66baaac8af62ff567108ba52ef9eb711e82f6980c78c017993b",
  "dataset": {
    "title": "LIBERO-PRO, building on LIBERO",
    "creators": "Xueyang Zhou, Yangming Xu, Guiyao Tie, Yongchao Chen, Guowen Zhang, Duanfeng Chu, Pan Zhou, Lichao Sun; LIBERO contributors",
    "source": "https://github.com/Zxy-MLlab/LIBERO-PRO",
    "license": "CC BY 4.0",
    "license_url": "https://creativecommons.org/licenses/by/4.0/",
    "basis": "Installed LIBERO-PRO README license table; upstream OpenRUA benchmark configuration identifies generated task/init suites as CC-BY.",
    "task_archive_redistributed": false
  },
  "modifications": "Local fresh Astra actor and typed transport in place of upstream authenticated agent CLI; CPU dependency profile; native dual-camera pixels composed with step labels; no model training.",
  "publication": "Local simulation camera renders and sanitized outcome summaries only. No model reasoning, private logs, account information, task archives or policy weights.",
  "scope": "Source licenses do not relabel third-party textures, task data or rendered assets as Apache-2.0."
}

{
  "project_url": "https://github.com/hesd10/astra-robot-sim2real",
  "source_commit": "e324643f03d05656f49bc4fc575759fd46cb9fe0",
  "author": "hesd10 / astra-robot-sim2real; XLeRobot contributors",
  "license": "Project-wide license unspecified; XLeRobot component Apache-2.0",
  "component_license_file": "data/licenses/astra-experience-XLeRobot-Apache-2.0.txt",
  "media": "Locally rendered states from this registered feedback study; supplied author interfaces; no source, prompts, private logs or session content bundled",
  "applies_to": [
    "astra-elevator-feedback-comparison"
  ]
}

{
  "project": "ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation",
  "authors": "Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, Li Fei-Fei",
  "source": "https://github.com/huangwl18/ReKep",
  "paper": "https://rekep-robot.github.io/",
  "implementation": "本地 MuJoCo 适配；使用上游 SubgoalSolver/PathSolver。真值关键点替代 DINO 感知，MuJoCo IK 替代 Lula，Panda 替代 Fetch；模型生成的约束在各布局中复用。",
  "distribution": "仅分发本地仿真录像与解读，不分发上游源码、机器人模型或权重。"
}

{
  "project": "RPent: Agentic Infrastructure for the Physical World",
  "authors": "The RPent Authors / RLinf",
  "source": "https://github.com/RLinf/RPent",
  "sourceCommit": "d6daf3413dd203f44bbd4a9f3f08c19db0c2063c",
  "license": "data/licenses/rpent-Apache-2.0.txt",
  "policyCheckpoint": "https://huggingface.co/RLinf/RLinf-Pi05-LIBERO-130-fullshot-SFT",
  "implementation": "固定版本官方流程，应用 RV-ICL 兼容补丁但未开启视频示范；CPU SAM3、低内存权重加载和分块记录为本地硬件适配。双视角视频直接并排组合原生记录，无插帧。",
  "distribution": "仅分发本地仿真录像与说明，不分发权重、机器人资产、原始数据集或上游源码。"
}

{
  "project": "Recursive Video In-Context Learning for Agentic Robot",
  "authors": "Wenrui Bao, Xinxin Liu, Bingxin Xu, Yuzhang Shang; built on RPent / HarnessVLA",
  "source": "https://github.com/BWR-hhh/rvicl",
  "sourceCommit": "4052a54caac9acb4ce42c050c9a96d11b3e251a4",
  "runtimeBase": "RPent d6daf3413dd203f44bbd4a9f3f08c19db0c2063c + official RV-ICL patch",
  "license": "data/licenses/rvicl-Apache-2.0.txt",
  "policyCheckpoint": "https://huggingface.co/RLinf/RLinf-Pi05-LIBERO-130-fullshot-SFT",
  "demonstrationSource": "LIBERO-derived official RV-ICL v0.1 video store; reference assets are not redistributed here.",
  "implementation": "官方分层示范工具与任务补丁；本地采用 CPU SAM3、低内存权重加载和逐步落盘记录。示范索引附带原示范的物体/区域语义、末端与夹爪状态，不是纯 RGB 输入。当前场景的位置由 RGB-D 测量获得。",
  "distribution": "仅分发本机运行录像和说明，不分发上游示范库、权重、机器人资产或原始数据集。"
}

{
  "project": "GenSim: Generating Robotic Simulation Tasks via Large Language Models",
  "authors": "Lirui Wang and GenSim contributors; CLIPort / Ravens environment and expert oracle",
  "source": "https://github.com/liruiw/GenSim",
  "sourceCommit": "1a203b7259ac8af840e8db8f17a69ec8a1cd255c",
  "license": "data/licenses/gensim-MIT.txt",
  "robotAssetLicense": "data/licenses/gensim-ur5-license.txt",
  "implementation": "保留官方 Agent/Critic/Memory/task_creation 与 CLIPort 任务、oracle 和 PyBullet。采用 Astra SDK 文本接口、隔离执行、Python 3.11 容器兼容、显式种子；240Hz 物理配置替代原 sim_runner 的 480Hz。未训练策略，也没有让模型逐步操控机械臂。",
  "distribution": "仅分发本机录像、说明与许可文本；不分发上游资产、模型权重、用户凭据或原始模型请求。"
}

{
  "project": "PyRUA-Lean: Python for Lean Robot-Use Agents",
  "authors": "DAGroup-PKU / PyRUA-Lean and RPent contributors",
  "source": "https://github.com/DAGroup-PKU/PyRUA-Lean",
  "sourceCommit": "fdf6e870654254e2c0c891ee407313fa48bdd0f9",
  "rpentSource": "https://github.com/RLinf/RPent",
  "rpentCommit": "886b3b274d3dd30bbc15615ea512d65ae90bc8b3",
  "license": "data/licenses/pyrualean-Apache-2.0.txt",
  "notice": "data/licenses/pyrualean-NOTICE.txt",
  "rpentLicense": "data/licenses/pyrualean-rpent-Apache-2.0.txt",
  "policyCheckpoint": "RLinf/RLinf-Pi05-LIBERO-130-fullshot-SFT; original model values, no local training",
  "implementation": "保留官方 play_episode、cells、Python 沙箱、robo API、原生任务与终止条件。Astra 在线写代码，Pi0.5 生成短段动作，SAM3 用于按需分割。采用低峰值加载、SAM3 CPU FP32 兼容与独立模型服务；可选 skimage 掩码后处理缺失的上游警告保留。Codex 0.163 经 WSL 路径适配；每集最多 30 工具轮次、1200 秒和 3000 控制步，单次尝试。这里是 LIBERO-PRO 本地演示，没有复现 RoboDojo 排名，也未使用 PyRUA-Lean Coder 4B。",
  "runtimeCompatibility": "部分案例采用逐集独立模型服务、WSL 私网 MCP 连接预检及提示词输入管道适配；不改变任务、控制原语、模型值或原生判定。",
  "distribution": "仅分发逐控制步完整原生录像、说明与许可文本；不分发模型权重、上游资产、凭据或原始请求日志。"
}

{
  "project": "RoboICL",
  "authors": "RoboICL Authors / Mosi-AI",
  "source": "https://github.com/Mosi-AI/RoboICL",
  "sourceCommit": "629290545af0d139a955a6555dedd651a60f3db9",
  "license": "data/licenses/roboicl-MIT.txt",
  "implementation": "复用原版 LiveTrajectoryMemory；单 Panda 的 pending/ledger/commit 对话生命周期、OSC7 动作接口及 Codex SDK JSON 图文传输为本地移植。环境为 robosuite 1.5.2 / MuJoCo 3.3.0。未实例化原版双臂 Model，未提供 TRAIN 示范、未验证未见 TEST 迁移，也未训练 VLA。",
  "distribution": "仅分发本机完整录像、说明与许可文本；完整模型请求/最终响应、控制状态及未入选尝试留在本地。未分发上游资产、权重或凭据。"
}