Third-party notices

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.

Bundled assets and data

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_envs/src/motrix_envs/robot/assets/; motrix_envs/src/motrix_envs/locomotion/go1/	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_envs/src/motrix_envs/robot/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_envs/src/motrix_envs/robot/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_envs/src/motrix_envs/robot/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

Runtime dependencies

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.

Release checklist

The status below records what can be verified from this checkout. A checked item does not replace legal approval for an asset or dependency.

Repository checks completed (2026-09-07)

• 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.lock is present; the Unitree SDK source is pinned to a Git revision in motrix_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.

Required before the first public release

• 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.