# 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](datasets/climb/NOTICE.md) | [LICENSE](datasets/climb/LICENSE), [NOTICE](datasets/climb/NOTICE) | — |
| [datasets/dex_retargeting](datasets/dex_retargeting/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](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](datasets/dexgraspnet/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](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](datasets/dexmachina/NOTICE.md) | [LICENSE.html](datasets/dexmachina/LICENSE.html) | ARCTIC-derived clips selected by DexMachina. Redistribution permission is required under ARCTIC's terms. |
| [datasets/dexycb](datasets/dexycb/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](datasets/dexycb/LICENSE-CC-BY-NC-4.0.txt) | Confirm any additional YCB object-mesh terms; DexYCB's data license is included. |
| [datasets/gigahands](datasets/gigahands/NOTICE.md) | [LICENSE-CC-BY-NC-4.0.txt](datasets/gigahands/LICENSE-CC-BY-NC-4.0.txt) | — |
| [datasets/hand_retargeting_vector](datasets/hand_retargeting_vector/NOTICE.md) | No license text located | Confirm recording ownership, participant permissions, and license for avp_data_right.pkl and manus_data_right.pkl. |
| [datasets/oakink2](datasets/oakink2/NOTICE.md) | [LICENSE-CC-BY-SA-4.0.txt](datasets/oakink2/LICENSE-CC-BY-SA-4.0.txt) | — |
| [datasets/omomo](datasets/omomo/NOTICE.md) | 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](datasets/parahome/NOTICE.md) | [LICENSE-CC-BY-NC-SA-4.0.txt](datasets/parahome/LICENSE-CC-BY-NC-SA-4.0.txt) | — |
| [datasets/saga](datasets/saga/NOTICE.md) | [LICENSE.html](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](datasets/sfu/NOTICE.md) | [LICENSE.html](datasets/sfu/LICENSE.html) | AMASS-format motion data; confirm original acquisition terms. AMASS prohibits redistribution without permission. |
| [robots/robot_description/arms/franka_panda](robots/robot_description/arms/franka_panda/NOTICE.md) | [LICENSE](robots/robot_description/arms/franka_panda/LICENSE) | — |
| [robots/robot_description/arms/xarm6](robots/robot_description/arms/xarm6/NOTICE.md) | [LICENSE](robots/robot_description/arms/xarm6/LICENSE) | — |
| [robots/robot_description/arms/xarm7](robots/robot_description/arms/xarm7/NOTICE.md) | [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](robots/robot_description/assembly/g1_inspire/NOTICE.md) | [LICENSE](robots/robot_description/assembly/g1_inspire/licenses/unitree/LICENSE), [LICENSE.txt](robots/robot_description/assembly/g1_inspire/licenses/inspire/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/assembly/g1_inspire/licenses/inspire/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/assembly/g1_inspire/licenses/inspire/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](robots/robot_description/assembly/g1_mano/NOTICE.md) | [LICENSE](robots/robot_description/assembly/g1_mano/licenses/unitree/LICENSE), [LICENSE.txt](robots/robot_description/assembly/g1_mano/licenses/mano/LICENSE.txt) | MANO-derived geometry: redistribution permission is required under the included MANO terms. |
| [robots/robot_description/assembly/rby1_sharpa](robots/robot_description/assembly/rby1_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/rby1_sharpa/licenses/rby1/LICENSE), [LICENSE.txt](robots/robot_description/assembly/rby1_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/rby1_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/rby1_sharpa/licenses/sharpa/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](robots/robot_description/assembly/vega_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/vega_sharpa/licenses/vega/LICENSE), [LICENSE.txt](robots/robot_description/assembly/vega_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/vega_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/vega_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | — |
| [robots/robot_description/assembly/xarm6_sharpa](robots/robot_description/assembly/xarm6_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm6_sharpa/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm6_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/xarm6_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/xarm6_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | — |
| [robots/robot_description/assembly/xarm7_ability](robots/robot_description/assembly/xarm7_ability/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_ability/licenses/xarm/LICENSE), [LICENSE](robots/robot_description/assembly/xarm7_ability/licenses/ability/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_ability/licenses/dex_ability/LICENSE.txt), [LICENSE](robots/robot_description/assembly/xarm7_ability/licenses/dex_ability/LICENSE) | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
| [robots/robot_description/assembly/xarm7_inspire](robots/robot_description/assembly/xarm7_inspire/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_inspire/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_inspire/licenses/inspire/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/assembly/xarm7_inspire/licenses/inspire/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/assembly/xarm7_inspire/licenses/inspire/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](robots/robot_description/assembly/xarm7_mano/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_mano/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_mano/licenses/mano/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](robots/robot_description/assembly/xarm7_sharpa/NOTICE.md) | [LICENSE](robots/robot_description/assembly/xarm7_sharpa/licenses/xarm/LICENSE), [LICENSE.txt](robots/robot_description/assembly/xarm7_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_description/assembly/xarm7_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/assembly/xarm7_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | Confirm separate terms for SAPIEN-converted variants: https://github.com/sapien-sim/xarm7. |
| [robots/robot_description/assembly/xarm7_xhand](robots/robot_description/assembly/xarm7_xhand/NOTICE.md) | [LICENSE](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](robots/robot_description/end_effectors/ability_hand/NOTICE.md) | [LICENSE](robots/robot_description/end_effectors/ability_hand/licenses/ability/LICENSE), [LICENSE.txt](robots/robot_description/end_effectors/ability_hand/licenses/dex_ability/LICENSE.txt), [LICENSE](robots/robot_description/end_effectors/ability_hand/licenses/dex_ability/LICENSE) | — |
| [robots/robot_description/end_effectors/inspire_hand](robots/robot_description/end_effectors/inspire_hand/NOTICE.md) | [LICENSE.txt](robots/robot_description/end_effectors/inspire_hand/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/end_effectors/inspire_hand/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/end_effectors/inspire_hand/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](robots/robot_description/end_effectors/mano_hand/NOTICE.md) | [LICENSE.txt](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](robots/robot_description/end_effectors/manus_hand/NOTICE.md) | No license text located | Confirm authorship and applicable terms for this marker-only skeleton. |
| [robots/robot_description/end_effectors/orcahand](robots/robot_description/end_effectors/orcahand/NOTICE.md) | [LICENSE](robots/robot_description/end_effectors/orcahand/LICENSE) | — |
| [robots/robot_description/end_effectors/paxini_hand](robots/robot_description/end_effectors/paxini_hand/NOTICE.md) | No license text located | PaXini DEXH13: obtain the supplier's model/mesh license. |
| [robots/robot_description/end_effectors/robotiq_2f85](robots/robot_description/end_effectors/robotiq_2f85/NOTICE.md) | 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](robots/robot_description/end_effectors/shadow_hand_mjcf/NOTICE.md) | [LICENSE.md](robots/robot_description/end_effectors/shadow_hand_mjcf/LICENSE.md), [LICENSE-CC-BY-NC-4.0.txt](robots/robot_description/end_effectors/shadow_hand_mjcf/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](robots/robot_description/end_effectors/sharpa_hand/NOTICE.md) | [LICENSE.txt](robots/robot_description/end_effectors/sharpa_hand/LICENSE.txt), [NOTICE.txt](robots/robot_description/end_effectors/sharpa_hand/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_description/end_effectors/sharpa_hand/LICENSE-APACHE-2.0.txt) | — |
| [robots/robot_description/end_effectors/xhand](robots/robot_description/end_effectors/xhand/NOTICE.md) | 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](robots/robot_description/end_effectors/yam_gripper/NOTICE.md) | [LICENSE](robots/robot_description/end_effectors/yam_gripper/LICENSE) | — |
| [robots/robot_description/humanoids/booster_k1](robots/robot_description/humanoids/booster_k1/NOTICE.md) | [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](robots/robot_description/humanoids/fourier_gr3/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/fourier_gr3/LICENSE) | — |
| [robots/robot_description/humanoids/g1](robots/robot_description/humanoids/g1/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/g1/LICENSE) | — |
| [robots/robot_description/humanoids/g1_inspire](robots/robot_description/humanoids/g1_inspire/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/g1_inspire/licenses/unitree/LICENSE), [LICENSE.txt](robots/robot_description/humanoids/g1_inspire/licenses/inspire/LICENSE.txt), [LICENSE-CC-BY-NC-SA-4.0.txt](robots/robot_description/humanoids/g1_inspire/licenses/inspire/LICENSE-CC-BY-NC-SA-4.0.txt), [LICENSE-DEX-URDF](robots/robot_description/humanoids/g1_inspire/licenses/inspire/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](robots/robot_description/humanoids/rby1/NOTICE.md) | [LICENSE](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](robots/robot_description/humanoids/unitree_h1_2/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/unitree_h1_2/LICENSE) | — |
| [robots/robot_description/humanoids/vega_1](robots/robot_description/humanoids/vega_1/NOTICE.md) | [LICENSE](robots/robot_description/humanoids/vega_1/LICENSE) | — |
| [robots/robot_mj_description/assembly/vega_sharpa](robots/robot_mj_description/assembly/vega_sharpa/NOTICE.md) | [LICENSE](robots/robot_mj_description/assembly/vega_sharpa/licenses/vega/LICENSE), [LICENSE.txt](robots/robot_mj_description/assembly/vega_sharpa/licenses/sharpa/LICENSE.txt), [NOTICE.txt](robots/robot_mj_description/assembly/vega_sharpa/licenses/sharpa/NOTICE.txt), [LICENSE-APACHE-2.0.txt](robots/robot_mj_description/assembly/vega_sharpa/licenses/sharpa/LICENSE-APACHE-2.0.txt) | — |
| [robots/robot_mj_description/assembly/xarm7_shadow](robots/robot_mj_description/assembly/xarm7_shadow/NOTICE.md) | [LICENSE](robots/robot_mj_description/assembly/xarm7_shadow/licenses/xarm/LICENSE), [LICENSE](robots/robot_mj_description/assembly/xarm7_shadow/licenses/shadow/LICENSE) | — |
| [robots/robot_mj_description/assembly/xarm7_xhand](robots/robot_mj_description/assembly/xarm7_xhand/NOTICE.md) | [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](robots/robot_mj_description/end_effectors/shadow_hand/NOTICE.md) | [LICENSE](robots/robot_mj_description/end_effectors/shadow_hand/LICENSE) | — |
| [robots/robot_mj_description/end_effectors/xhand](robots/robot_mj_description/end_effectors/xhand/NOTICE.md) | 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](robots/robot_mj_description/humanoids/vega_1/NOTICE.md) | [LICENSE](robots/robot_mj_description/humanoids/vega_1/LICENSE) | — |
| [robots/robot_mj_description/humanoids/vega_1u](robots/robot_mj_description/humanoids/vega_1u/NOTICE.md) | [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/fr3/LICENSE) |
| robots/robot_description/arms/gen3 | [LICENSE](robots/robot_description/arms/gen3/LICENSE) |
| robots/robot_description/arms/iiwa14 | [LICENSE](robots/robot_description/arms/iiwa14/LICENSE) |
| robots/robot_description/arms/piper | [LICENSE](robots/robot_description/arms/piper/LICENSE) |
| robots/robot_description/arms/rizon4 | [LICENSE](robots/robot_description/arms/rizon4/LICENSE) |
| robots/robot_description/arms/ur5e | [LICENSE](robots/robot_description/arms/ur5e/LICENSE) |
| robots/robot_description/arms/yam | [LICENSE](robots/robot_description/arms/yam/LICENSE) |
| robots/robot_description/arms/z1 | [LICENSE](robots/robot_description/arms/z1/LICENSE) |
| robots/robot_description/assembly/yam_gripper | [LICENSE](robots/robot_description/assembly/yam_gripper/LICENSE) |
| robots/robot_description/end_effectors/allegro_hand | [LICENSE](robots/robot_description/end_effectors/allegro_hand/LICENSE) |
| robots/robot_description/end_effectors/barrett_hand | [LICENSE](robots/robot_description/end_effectors/barrett_hand/LICENSE) |
| robots/robot_description/end_effectors/dclaw_gripper | [LICENSE](robots/robot_description/end_effectors/dclaw_gripper/LICENSE) |
| robots/robot_description/end_effectors/leap_hand | [LICENSE.txt](robots/robot_description/end_effectors/leap_hand/LICENSE.txt) |
| robots/robot_description/end_effectors/schunk_hand | [LICENSE](robots/robot_description/end_effectors/schunk_hand/LICENSE) |
| robots/robot_description/end_effectors/shadow_hand | [LICENSE](robots/robot_description/end_effectors/shadow_hand/LICENSE) |
| robots/robot_description/humanoids/berkeley_humanoid_lite | [LICENCE](robots/robot_description/humanoids/berkeley_humanoid_lite/LICENCE) |
| robots/robot_description/humanoids/unitree_g1 | [LICENSE](robots/robot_description/humanoids/unitree_g1/LICENSE) |
| robots/robot_mj_description/arms/franka_panda | [LICENSE](robots/robot_mj_description/arms/franka_panda/LICENSE) |
| robots/robot_mj_description/arms/xarm7 | [LICENSE](robots/robot_mj_description/arms/xarm7/LICENSE) |
| robots/robot_mj_description/end_effectors/sharpa_hand | [LICENSE](robots/robot_mj_description/end_effectors/sharpa_hand/LICENSE) |
| robots/robot_mj_description/end_effectors/umi_gripper | [LICENSE](robots/robot_mj_description/end_effectors/umi_gripper/LICENSE) |