Asset licenses
Assets are under their own licenses. Source licenses and notices are kept beside the assets.
Scope
This inventory covers 59 robot-format folders and 12 dataset folders. It does not audit calibration or robot auxiliary YAML/JSON folders, and does not inspect licenses inside archives.
License-file presence is not redistribution clearance. Existing notices were preserved, not certified. Source revisions below identify the copied notice, not necessarily the original asset import revision.
Restrictions and unresolved terms
AMASS, ARCTIC, GRAB, MANO, and SMPL-X have restricted research terms, including redistribution restrictions. Private hosting does not itself establish permission. Existing assets were not deleted or made public by this notice-only update.
See the per-folder notices for source/component scope. Unknown terms are not replaced with RoboKit's or an upstream tool's software license.
| Folder | License documents | Follow-up |
|---|---|---|
| datasets/climb | LICENSE, NOTICE | — |
| datasets/dex_retargeting | LICENSE-CC-BY-NC-4.0.txt | dexycb_motion.pkl derives from DexYCB; the dex-retargeting software's MIT license does not replace the data license. |
| datasets/dexgraspnet | LICENSE-CC-BY-NC-4.0.txt | The project declares CC-BY-NC-4.0 for its dataset; archived object-source licenses still need inspection. This is not a blanket license for all meshes. |
| datasets/dexmachina | LICENSE.html | ARCTIC-derived clips selected by DexMachina. Redistribution permission is required under ARCTIC's terms. |
| datasets/dexycb | LICENSE-CC-BY-NC-4.0.txt | Confirm any additional YCB object-mesh terms; DexYCB's data license is included. |
| datasets/gigahands | LICENSE-CC-BY-NC-4.0.txt | — |
| datasets/hand_retargeting_vector | No license text located | Confirm recording ownership, participant permissions, and license for avp_data_right.pkl and manus_data_right.pkl. |
| datasets/oakink2 | LICENSE-CC-BY-SA-4.0.txt | — |
| datasets/omomo | No license text located | Confirm data and mesh terms for the OMOMO and InterMimic files. Their software licenses and the unrelated InterAct license do not establish this bundle's data license. Sources: https://lijiaman.github.io/projects/omomo/ and https://sirui-xu.github.io/InterMimic/. |
| datasets/parahome | LICENSE-CC-BY-NC-SA-4.0.txt | — |
| datasets/saga | LICENSE.html | SAGA uses GRAB object meshes; GRAB's terms are included for those components. Confirm the acquisition terms of the processed motion clips; SAGA's MIT code license does not relicense GRAB data. |
| datasets/sfu | LICENSE.html | AMASS-format motion data; confirm original acquisition terms. AMASS prohibits redistribution without permission. |
| robots/robot_description/arms/franka_panda | LICENSE | — |
| robots/robot_description/arms/xarm6 | LICENSE | — |
| robots/robot_description/arms/xarm7 | LICENSE | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
| robots/robot_description/assembly/g1_inspire | LICENSE, LICENSE.txt, LICENSE-CC-BY-NC-SA-4.0.txt, LICENSE-DEX-URDF | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. |
| robots/robot_description/assembly/g1_mano | LICENSE, LICENSE.txt | MANO-derived geometry: redistribution permission is required under the included MANO terms. |
| robots/robot_description/assembly/rby1_sharpa | LICENSE, LICENSE.txt, NOTICE.txt, LICENSE-APACHE-2.0.txt | The description wrapper's MIT license is included; confirm Rainbow Robotics' terms for the underlying meshes. |
| robots/robot_description/assembly/vega_sharpa | LICENSE, LICENSE.txt, NOTICE.txt, LICENSE-APACHE-2.0.txt | — |
| robots/robot_description/assembly/xarm6_sharpa | LICENSE, LICENSE.txt, NOTICE.txt, LICENSE-APACHE-2.0.txt | — |
| robots/robot_description/assembly/xarm7_ability | LICENSE, LICENSE, LICENSE.txt, LICENSE | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
| robots/robot_description/assembly/xarm7_inspire | LICENSE, LICENSE.txt, LICENSE-CC-BY-NC-SA-4.0.txt, LICENSE-DEX-URDF | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
| robots/robot_description/assembly/xarm7_mano | LICENSE, LICENSE.txt | MANO-derived geometry: redistribution permission is required under the included MANO terms. Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
| robots/robot_description/assembly/xarm7_sharpa | LICENSE, LICENSE.txt, NOTICE.txt, LICENSE-APACHE-2.0.txt | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
| robots/robot_description/assembly/xarm7_xhand | LICENSE | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
| robots/robot_description/end_effectors/ability_hand | LICENSE, LICENSE.txt, LICENSE | — |
| robots/robot_description/end_effectors/inspire_hand | LICENSE.txt, LICENSE-CC-BY-NC-SA-4.0.txt, LICENSE-DEX-URDF | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. |
| robots/robot_description/end_effectors/mano_hand | LICENSE.txt | MANO-derived geometry: redistribution permission is required under the included MANO terms. |
| robots/robot_description/end_effectors/manus_hand | No license text located | Confirm authorship and applicable terms for this marker-only skeleton. |
| robots/robot_description/end_effectors/orcahand | LICENSE | — |
| robots/robot_description/end_effectors/paxini_hand | No license text located | PaXini DEXH13: obtain the supplier's model/mesh license. |
| robots/robot_description/end_effectors/robotiq_2f85 | No license text located | The source package.xml declares BSD without a license text or variant: https://github.com/a-price/robotiq_arg85_description/blob/a65190bdbb0666609fe7e8c3bb17341e09e81625/package.xml. Obtain the original full license. |
| robots/robot_description/end_effectors/shadow_hand_mjcf | LICENSE.md, LICENSE-CC-BY-NC-4.0.txt | The OpenAI/Shadow notice covers source components; DexGraspNet declares CC-BY-NC-4.0 for its work. Both notices are retained. |
| robots/robot_description/end_effectors/sharpa_hand | LICENSE.txt, NOTICE.txt, LICENSE-APACHE-2.0.txt | — |
| robots/robot_description/end_effectors/xhand | No license text located | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
| robots/robot_description/end_effectors/yam_gripper | LICENSE | — |
| robots/robot_description/humanoids/booster_k1 | LICENSE | Confirm separate terms for the ZED camera additions in K1_serial-ZED.urdf. |
| robots/robot_description/humanoids/fourier_gr3 | LICENSE | — |
| robots/robot_description/humanoids/g1 | LICENSE | — |
| robots/robot_description/humanoids/g1_inspire | LICENSE, LICENSE.txt, LICENSE-CC-BY-NC-SA-4.0.txt, LICENSE-DEX-URDF | dex-urdf labels the model CC-BY-NC-SA-4.0; its per-model file supplies provenance only. Confirm the manufacturer's original CAD terms. |
| robots/robot_description/humanoids/rby1 | LICENSE | The description wrapper's MIT license is included; confirm Rainbow Robotics' terms for the underlying meshes. |
| robots/robot_description/humanoids/unitree_h1_2 | LICENSE | — |
| robots/robot_description/humanoids/vega_1 | LICENSE | — |
| robots/robot_mj_description/assembly/vega_sharpa | LICENSE, LICENSE.txt, NOTICE.txt, LICENSE-APACHE-2.0.txt | — |
| robots/robot_mj_description/assembly/xarm7_shadow | LICENSE, LICENSE | — |
| robots/robot_mj_description/assembly/xarm7_xhand | LICENSE | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
| robots/robot_mj_description/end_effectors/shadow_hand | LICENSE | — |
| robots/robot_mj_description/end_effectors/xhand | No license text located | RobotEra XHand: obtain the supplier's model/mesh license; an SDK license is not a model license. |
| robots/robot_mj_description/humanoids/vega_1 | LICENSE | — |
| robots/robot_mj_description/humanoids/vega_1u | LICENSE | — |
Previously present
These 21 folders already contained license/notice files; they were left unchanged.
| Folder | Existing documents |
|---|---|
| robots/robot_description/arms/fr3 | LICENSE |
| robots/robot_description/arms/gen3 | LICENSE |
| robots/robot_description/arms/iiwa14 | LICENSE |
| robots/robot_description/arms/piper | LICENSE |
| robots/robot_description/arms/rizon4 | LICENSE |
| robots/robot_description/arms/ur5e | LICENSE |
| robots/robot_description/arms/yam | LICENSE |
| robots/robot_description/arms/z1 | LICENSE |
| robots/robot_description/assembly/yam_gripper | LICENSE |
| robots/robot_description/end_effectors/allegro_hand | LICENSE |
| robots/robot_description/end_effectors/barrett_hand | LICENSE |
| robots/robot_description/end_effectors/dclaw_gripper | LICENSE |
| robots/robot_description/end_effectors/leap_hand | LICENSE.txt |
| robots/robot_description/end_effectors/schunk_hand | LICENSE |
| robots/robot_description/end_effectors/shadow_hand | LICENSE |
| robots/robot_description/humanoids/berkeley_humanoid_lite | LICENCE |
| robots/robot_description/humanoids/unitree_g1 | LICENSE |
| robots/robot_mj_description/arms/franka_panda | LICENSE |
| robots/robot_mj_description/arms/xarm7 | LICENSE |
| robots/robot_mj_description/end_effectors/sharpa_hand | LICENSE |
| robots/robot_mj_description/end_effectors/umi_gripper | LICENSE |