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CAD_SOURCE_DISCLOSURE.txt

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+C2254 workcell parts: manufacturer-supplied CAD, converted by the maintainers.
+The maintainer obtained C2254.STEP directly from the manufacturer offline and
+chose to retain the existing converted mounting, column and center-camera
+components in this release. The original STEP file itself is not included.
+The manufacturer's public redistribution permission has not been independently
+verified. These components are not represented as covered by Piper ROS's MIT
+license. Format conversion is not represented as granting upstream rights.
+This disclosure records the actual source and the maintainer's publication
+decision; it is not a new license grant over manufacturer-owned content.

GARMENT_ATTRIBUTION.txt

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+GarmentCodeData garments: CC BY 4.0.
+Authors: Maria Korosteleva, Timur Levent Kesdogan, Fabian Kemper, Stephan
+Wenninger, Jasmin Koller, Yuhan Zhang, Mario Botsch, Olga Sorkine-Hornung.
+Paper: GarmentCodeData: A Dataset of 3D Made-to-Measure Garments With Sewing
+Patterns, ECCV 2024. Dataset v2: https://doi.org/10.3929/ethz-b-000690432
+License: https://creativecommons.org/licenses/by/4.0/
+Modifications: selection of garment samples, USD conversion and panel-label
+preservation; runtime uses 0.01 scale for centimeter-to-meter conversion.
+Per-garment archive members and converted-file digests are in
+garment_provenance.json. Upstream body models are not included.
+No endorsement by the upstream authors is claimed.

LICENSE

@@ -0,0 +1,438 @@
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+

PIPER_ATTRIBUTION.txt

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+AgileX Piper ROS source: https://github.com/agilexrobotics/piper_ros
+Fixed source revision: ac41fcbcdda598f01b51cf6175ed9a24d0dacadc
+MIT license; copyright (c) 2024 RosenYin. See LICENSE-PIPER-MIT.txt.
+Eight legacy STL files match the official Git blobs exactly. Wrist-camera
+camera_v3 geometry structure and all 46 float arrays match the official mesh;
+material and scene modifications are recorded as project changes.
+The project converts and assembles robot assets for its fixed workcell,
+including task-specific collision, material, joint and camera configuration.
+See piper_official_files.json, piper_local_source_matches.json and
+camera_numeric_comparison.json. Do not extend this MIT notice to the separate
+manufacturer-supplied C2254 components; see CAD_SOURCE_DISCLOSURE.txt.

README.md

@@ -1,3 +1,12 @@
 ---
 license: cc-by-nc-sa-4.0
+tags: [robotics, lerobot, synthetic]
 ---
+# ClothDojo generated RGB fold
+
+3856 original training episodes, LeRobot v2.1. Dataset records, videos and metadata are preserved byte for byte.
+RGB videos are training observations, not geometric evaluation inputs.
+Successful terminal-state selection and evaluation initial-state validation are different checks.
+This release repairs evaluation initial states only; it does not replace or certify all training initial states against that benchmark gate.
+Original generated data contributions use CC BY-NC-SA 4.0; component-specific terms and source disclosures remain applicable.
+See THIRD_PARTY_NOTICES.md and the supplied attribution/disclosure files.

THIRD_PARTY_NOTICES.md

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+# 第三方内容、许可范围与权利反馈
+
+ClothDojo 包含自有代码、生成数据及来自第三方的模型、服装、机器人和视觉资产。
+公开访问、论文引用、格式转换或本文件中的来源说明，均不等于取得再分发授权。
+项目不对第三方内容作超出其原许可证范围的授权。
+
+## 许可范围
+
+- 自有代码采用 Apache-2.0；生成 RGB 数据及自有数据贡献采用 CC BY-NC-SA 4.0。正式文本与适用范围见 `LICENSE`、`LICENSE-DATA` 和 `LICENSE_SCOPE.md`。
+- 代码、模型权重、tokenizer、数据和视觉资产不能仅凭仓库的一项许可标识视为采用相同许可证。
+- 第三方文件保留其原版权声明和许可证。转换为 USD、裁切纹理或重新打包，不会消除上游权利和限制。
+- 下载、引用或格式转换不自动赋予第三方内容的再分发权。许可未核实的条目应如实披露，不套用其他组件的许可证；未随包提供的原件可以提供官方获取入口及准备步骤。
+- 未随包提供的上游依赖，由使用者按上游条款自行获取。减少或替换依赖后，不应宣称与原实验的渲染结果完全一致。
+
+## 主要第三方来源
+
+| 内容 | 来源及许可说明 | 发布边界 |
+| --- | --- | --- |
+| Poly Haven 材质等资产 | [官方 CC0 说明](https://polyhaven.com/license) | 维护逐资产来源和版本；网站及 API 条款与资产许可分别处理 |
+| GenieSim 场景及提取材质 | [固定版本 CC BY-NC-SA 4.0](https://huggingface.co/datasets/agibot-world/GenieSimAssets/blob/a0813aad7c16165daffbe6c2737754e0344809ee/LICENSE) | 保留要求的署名和许可，注明裁切、格式转换等修改，遵守非商业及相同方式共享要求 |
+| NVIDIA Isaac 场景、材质和相关依赖 | [Isaac Sim Additional Software and Materials License](https://www.nvidia.com/en-us/agreements/enterprise-software/isaac-sim-additional-software-and-materials-license/) | 除非适用的逐资产授权或另行许可允许，不随公开包再分发；不能以 Isaac Sim 代码的开源许可替代资产条款 |
+| GarmentCodeData 服装及转换产物 | ETH 官方 [v1 数据记录](https://www.research-collection.ethz.ch/entities/researchdata/d9df8fe3-2add-49a2-bb58-21750ca7970c)、[v2 数据记录](https://www.research-collection.ethz.ch/items/9d16a4da-0d30-4963-8842-af20fcf82899) 均标明 CC BY 4.0 | 保留作者、数据记录及许可链接，注明筛选、单位变换和 USD 转换；逐资产记录来源归档及文件摘要；不把人体模型纳入服装许可范围 |
+| Piper 机械臂与腕部相机 | [AgileX Piper ROS 固定版本 MIT](https://github.com/agilexrobotics/piper_ros/blob/ac41fcbcdda598f01b51cf6175ed9a24d0dacadc/LICENSE) | 已存档 8 个 STL 的逐字节来源比对及腕部相机的完整几何结构、46 组浮点数组比对；保留 MIT 文本、作者和转换修改说明，不把它扩展到独立厂家 CAD |
+| C2254 固定件、立柱与中央相机 | 厂家线下提供的原始 STEP，本项目转换为 USD/网格；维护者确认来源并决定保留转换件分发 | 未查到单独的公开再分发条款，授权范围未独立核实；按维护者决定保留并披露，不标为已获 MIT 授权，不把本项目格式转换当作厂家授权 |
+| OpenPI 代码、模型和 PaliGemma tokenizer | [OpenPI](https://github.com/Physical-Intelligence/openpi)、实际 π0.5 基座 [lerobot/pi05_base@7de663972b7817d2c4cf2d84c821153dfea772e9](https://huggingface.co/lerobot/pi05_base/tree/7de663972b7817d2c4cf2d84c821153dfea772e9) 标明 Gemma 许可；[Gemma 条款](https://ai.google.dev/gemma/terms/) | 教师权重保留 Gemma 条款、使用限制、NOTICE 和微调修改说明，不套用代码 Apache-2.0；tokenizer 不随包分发，由使用者按上游条款获取 |
+
+NVIDIA 的[官方 License FAQ](https://docs.isaacsim.omniverse.nvidia.com/latest/common/license-faq.html) 区分模拟输出与软件、资产原件：只交付视频、报告或数据集输出不要求 NVIDIA AI Enterprise 许可。这不等于取得 SDK、场景和材质原文件的再分发权，也不能代替 GenieSim、服装和机器人等独立来源的许可核对。
+
+GenieSim 场景和裁切材质继续保留 CC BY-NC-SA 4.0。维护者已选择对生成 RGB 数据及自有数据贡献采用同样的非商业、署名和相同方式共享许可，正式文本见 `LICENSE-DATA`。这不把所有第三方原件改为项目的非商业许可。
+
+## 权利反馈与整改
+
+如您认为本项目公开的文件、模型、数据、图像或其他内容涉及您的权利，或发现署名、许可、来源记录存在问题，请联系：
+
+**[auhuangzl@mail.scut.edu.cn](mailto:auhuangzl@mail.scut.edu.cn)**
+
+请尽可能提供：涉及的仓库或数据集地址、文件路径及版本、您的权利或代理身份说明、相关来源或许可依据，以及希望采取的处理方式。
+项目维护者将核查反馈，并根据核查结果采取补充署名、更正许可说明、替换内容、���停分发或移除相关文件等措施。
+本反馈与整改机制不替代发布前取得必要授权，也不改变上游许可证、既有权利或适用的法定义务。

VISUAL_ATTRIBUTION.txt

@@ -0,0 +1,20 @@
+Poly Haven: textures and other retained Poly Haven assets are CC0.
+Source and terms: https://polyhaven.com/license
+Per-asset origins and file hashes are retained in configs/rendering/materials.json.
+
+GenieSimAssets: source publisher agibot-world, revision
+a0813aad7c16165daffbe6c2737754e0344809ee; CC BY-NC-SA 4.0.
+https://huggingface.co/datasets/agibot-world/GenieSimAssets/tree/a0813aad7c16165daffbe6c2737754e0344809ee
+https://huggingface.co/datasets/agibot-world/GenieSimAssets/blob/a0813aad7c16165daffbe6c2737754e0344809ee/LICENSE
+Project modifications include scene placement, fixed per-episode appearance,
+lighting randomization, and table-texture crops/conversions described by the
+per-material extraction manifests and configs/rendering/scene_materials.json.
+Preserve the upstream noncommercial, attribution and share-alike terms.
+
+NVIDIA Isaac Sim 5.0 visual inputs retain their separate component terms.
+The original NVIDIA visual files and Isaac/Kit runtime are not redistributed.
+upstream_visual_dependencies.json identifies omitted inputs and exact hashes.
+https://www.nvidia.com/en-us/agreements/enterprise-software/isaac-sim-additional-software-and-materials-license/
+
+Actual episode appearance IDs and rendering protocol hashes are retained in
+each RGB dataset's meta/clothdojo.json. No upstream endorsement is claimed.

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