MotrixLab source code is released under the Apache License, Version 2.0. The license for the source code does not automatically apply to third-party dependencies, robot descriptions, meshes, motion data, images, or videos.
This file is the release inventory for those materials. Before publishing a release, every row must have a source URL, copyright holder, license, and a clear statement that redistribution in this repository is permitted. If a material cannot be cleared, remove it from the public tree or make it a separately downloaded optional asset.
| Material | Repository path | Upstream/source | License or status |
|---|---|---|---|
| Franka Emika Panda MJCF and meshes | motrix_envs/src/motrix_envs/manipulation/franka_lift_cube/xmls/; motrix_envs/src/motrix_envs/manipulation/franka_open_cabinet/xmls/ |
frankarobotics/franka_ros, see each directory README | The public source repository declares Apache-2.0; local model licenses are present. Record the exact imported revision and preserve attribution for all derived meshes |
| Shadow Hand E3M5 description | motrix_envs/src/motrix_envs/manipulation/shadow_hand/xmls/ |
Record the exact upstream source and revision before release | A local Apache-2.0 file is present; upstream provenance still needs to be recorded |
| RM65 descriptions and meshes | motrix_envs/src/motrix_envs/manipulation/rm65_open_cabinet/xmls/; motrix_envs/src/motrix_envs/common/rm65/ |
Record the exact upstream source and revision before release | A local Apache-2.0 file is present for the cabinet scene; verify every shared mesh |
| Unitree G1, Go1 and Go2 assets | motrix_robots/src/motrix_robots/assets/g1/; motrix_robots/src/motrix_robots/assets/go1/; motrix_robots/src/motrix_robots/assets/go2/ |
Record the exact Unitree source and model terms | Release approval required from the rights holder; trademarks and model terms are separate from the code license |
| ANYmal-C assets | motrix_robots/src/motrix_robots/assets/anymal_c/; motrix_envs/src/motrix_envs/locomotion/anymal_c/ |
Record the exact upstream source and model terms | Release approval and attribution required |
| Booster K1 assets | motrix_robots/src/motrix_robots/assets/k1/ |
BoosterRobotics/booster_assets K1 model | The public repository declares BSD-3-Clause and the local XML identifies this source. Record the exact imported revision and confirm that the derived XML and meshes may be redistributed |
| Dex-EVT assets | motrix_robots/src/motrix_robots/assets/dex_evt/ |
Record the exact upstream source and model terms | No public provenance or redistribution permission is documented in this checkout; release approval and attribution are required |
| LAFAN1 input data and converter | motrix_envs/src/motrix_envs/motion/converters/; downloaded inputs are not part of the repository |
LAFAN1 Retargeting Dataset | CC BY-NC-ND 4.0 is documented by the user guide; retain attribution and state the non-commercial/no-derivatives limits before redistributing any converted output |
| Bundled whole-body-tracking motion clips | motrix_envs/src/motrix_envs/locomotion/wbt/assets/motion/ |
Record the source, revision, author, and terms for each *.npz clip |
Provenance and redistribution permission are not yet documented for every clip; do not publish until cleared |
| Documentation videos, posters and benchmark figures | docs/source/_static/ |
Record whether each item is original, generated, or derived from a third-party asset | Verify the rights for the source material and the resulting media independently; retain attribution where required |
The following are installed from external distributions and remain under their
own licenses: MotrixSim, MuJoCo, Gymnasium, NumPy, Numba, nvidia-ml-py (NVML
bindings used for training-panel GPU metrics), Hydra/OmegaConf,
SKRL, RSL-RL, PyTorch/JAX, ONNX Runtime, TensorBoard, and the Unitree SDK2
Python package. Their licenses are not replaced by the MotrixLab license.
The release process should generate a dependency license report from the final
lock file (for example with pip-licenses) and attach it to each release.
The status below records what can be verified from this checkout. A checked item does not replace legal approval for an asset or dependency.
- The inventory covers the bundled robot descriptions, meshes, motion data, documentation media, and runtime dependency categories currently found in the tree.
- Local Apache-2.0 license files are present beside the Franka lift-cube, Franka open-cabinet, RM65 open-cabinet, and Shadow Hand model directories.
- Git LFS inventory was enumerated with
git lfs ls-files(667 tracked objects at review time). - The dependency lock file
uv.lockis present; the Unitree SDK source is pinned to a Git revision inmotrix_deploy_unitree/pyproject.toml. - Public upstream metadata was checked for the documented Franka source
(
frankarobotics/franka_ros, Apache-2.0) and Booster K1 source (BoosterRobotics/booster_assets, BSD-3-Clause). These references do not by themselves prove that this checkout contains the same revision.
- Fill in an upstream URL, exact revision, copyright holder, license, and redistribution permission for every asset row, including each bundled whole-body-tracking motion clip.
- Obtain written clearance for Unitree, ANYmal-C, Booster K1, Dex-EVT, RM65, and other branded models where the upstream terms do not clearly permit redistribution. Separate trademark attribution from copyright licensing.
- Confirm that every Git LFS object has the same redistribution permission as its pointer file; remove or externalize any uncleared large object.
- Generate and attach a dependency license report from the final lock file
(for example with
pip-licenses), including transitive dependencies. - Run a dependency scan and a secret scan over the complete public Git history, not only the current checkout, and resolve every finding.
- Remove or replace any asset, media file, dependency, or historical object that cannot be legally redistributed before creating the first release tag.