# Third-party notices

## MicroDuck runtime and controller sources

Source: `pollen-robotics/microduck` pinned by the MicroDuck source audit. Upstream software license: Apache-2.0. RoboBuddy uses source-derived hierarchy/controller parameters and exact policy/runtime artifacts as documented in `assets/microduck/manifest.json` and `docs/physics/microduck-provenance.md`.

## MicroDuck RL physical model and collision assets

Source: `pollen-robotics/microduck_rl` at `519142b1f5bf59fdfd44d06c205119e7fff8e3cb`.

Upstream's current project license notice states: the project software is Apache 2.0 and **3D model files are licensed under Creative Commons BY-SA-NC**. That notice does not name a Creative Commons version. This repository therefore preserves the upstream wording and intentionally does not substitute a version-specific CC license.

The exact source MJCF files used for physical collision semantics are retained in `models/microduck/source/`. Exact source STL bytes are retained in `models/microduck/assets/`. `models/microduck/source/GIT_BLOB_SHA1SUMS` records their Git blob identities against the pinned source checkout. Generated RoboBuddy wrappers `walk.xml`, `walk_lowtraction.xml`, `groundcontact.xml`, and `kick.xml` preserve source mesh geometry while adding only the local floor, deterministic task prop placement, actuator names, timestep, and keyframe needed by the browser/native harness.

Walking uses the pinned reduced `robot_walk.xml` collision set. Kick and recovery evidence use the pinned `robot_allcollisions.xml` plant, matching the task-specific upstream configuration rather than applying one collision approximation to all tasks.

## BAM

Source: `Rhoban/bam` v1.0.1, commit `ab81512c44f1f709b99ef332addb5e51568cd51c`. The MicroDuck plant reproduces the source XL330/M6 voltage-domain actuator equations and is independently checked against `better-actuator-models==1.0.1`. Refer to that upstream project for its license terms.

## Important scope note

The component licenses above are not relicensed by RoboBuddy's MIT default. This file records provenance and scope; it is not a claim that hardware calibration has been performed.

## Menlo Asimov 1

`models/asimov/` includes full-resolution losslessly compressed STL visuals and
physics descriptions derived from `menloresearch/asimov-1` at
`732cc60dcb8f2b4fd26c3d7346b35f9b89c3cd47`. Original MJCF/URDF and both upstream
license texts are preserved in `models/asimov/source/`: CERN-OHL-S-2.0 for
hardware and GPL-2.0 for software. These source-derived assets are **not MIT**.
The reproducible transformations, limitations and numerical checks are documented
in `docs/physics/asimov-provenance.md`. The added ideal torque actuators and PD
gains are simulator assumptions, not an official Menlo policy or hardware calibration.

## IBM Plex Sans

The locally hosted UI font in `assets/fonts/ibm-plex-sans-latin-variable.woff2` is distributed under the SIL Open Font License 1.1. Source: `@fontsource-variable/ibm-plex-sans` 5.3.0. See `assets/fonts/OFL-IBM-Plex-Sans.txt` for the complete license and copyright notice.