Alloy
Copyright 2026 The Alloy Authors

This product is licensed under the Apache License, Version 2.0 (see LICENSE).

This product includes or is derived from the third-party works listed below. Each keeps its own licence; the
licence texts are reproduced here or shipped next to the files they cover.

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Code
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Newton (https://github.com/newton-physics/newton)
  Licence: Apache-2.0. Copyright The Newton Developers.
  Alloy's physics core is built on Newton. alloy/_vendor/newton is a copy of Newton's newton package at an
  upstream commit, with our fixes applied and its imports rewritten to alloy._vendor.newton; it is used under
  Newton's licence (its LICENSE file is in that directory). alloy/_vendor/VENDORED.md names the upstream commit and
  lists every change; each file keeps its upstream copyright and licence header and says it was vendored.

MuJoCo Warp (https://github.com/google-deepmind/mujoco_warp)
  Licence: Apache-2.0. Copyright The Newton Developers and the MuJoCo Warp authors (Google LLC, NVIDIA
  Corporation; the AUTHORS file in alloy/_vendor/mujoco_warp).
  alloy/_vendor/mujoco_warp is a copy of MuJoCo Warp's mujoco_warp package at an upstream commit, unchanged but
  for its imports, rewritten to alloy._vendor.mujoco_warp; it is used under MuJoCo Warp's licence (its
  LICENSE file is in that directory). alloy/_vendor/VENDORED.md names the upstream commit and lists every change.
  alloy/precision/mjw_hessian.py contains a function body copied from mujoco_warp@86e2fae0 solver.py (lines
  3092-3330), adapted; the file header says so.

SPlisHSPlasH (https://github.com/InteractiveComputerGraphics/SPlisHSPlasH)
  Licence: MIT. Copyright (c) 2016 Jan Bender.
  alloy/solvers/sph/wall_viscosity.py ports the volume-map boundary viscosity term of SPlisHSPlasH@dba6b26.
  The DFSPH solver (alloy/solvers/sph) follows SPlisHSPlasH's step order and solves (DFSPH/TimeStepDFSPH.cpp).

  MIT License

  Copyright (c) 2016 Jan Bender

  Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
  documentation files (the "Software"), to deal in the Software without restriction, including without limitation
  the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and
  to permit persons to whom the Software is furnished to do so, subject to the following conditions:

  The above copyright notice and this permission notice shall be included in all copies or substantial portions of
  the Software.

  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO
  THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
  CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  IN THE SOFTWARE.

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Robot models (library/robots/emb_*, yam_bench*, task_t12, task_squeeze_*; each directory ships the source licence
files as LICENSE.<n> and a source.json naming the upstream repository, commit and the sha256 of every file used)
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MuJoCo Menagerie (https://github.com/google-deepmind/mujoco_menagerie), commit 98a70c56
  - franka_fr3, franka_emika_panda: Apache-2.0 (Franka Robotics GmbH).
    Used by emb_e1_fr3*, emb_e2_panda*, emb_e4_fr3_bimanual*. The inline Panda description in
    bench/scenarios/rigid.py and alloy/parallel/rung_arm.py takes its kinematics and inertias from
    franka_emika_panda (Apache-2.0).
  - universal_robots_ur10e: BSD-3-Clause (Copyright 2018 ROS Industrial Consortium).
  - robotiq_2f85: BSD-2-Clause (Copyright (c) 2013, ROS-Industrial).
    Used by emb_e3_ur10e_2f85*.
  - unitree_g1, unitree_go2: BSD-3-Clause (Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO., LTD.,
    "Unitree Robotics"). Used by emb_e6_g1*, emb_e8_go2*.
  - leap_hand: MIT (Copyright 2023 Ananye Agarwal). Used by emb_e9_leap.

franka_description (https://github.com/frankarobotics/franka_description), commit 7aeeddc4
  Licence: Apache-2.0 (Franka Robotics GmbH). Used by emb_e5_fr3_duo*.

unitree_ros (https://github.com/unitreerobotics/unitree_ros), commit 5994d4fa, h1_2_description
  Licence: BSD-3-Clause (Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO., LTD., "Unitree Robotics").
  Used by emb_e7_h1_2*.

gym-anything robotics (MIT)
  Actuator gains and start poses for emb_e5_fr3_duo* (mobile-fr3-duo) and emb_e7_h1_2* (h1_2).

I2RT YAM (https://github.com/i2rt-robotics/i2rt), commits 25e78c2f (robot_models/yam/assets, in v1.1) and fe78bae6
(v1.4.0)
  Licence: MIT. Copyright (c) I2RT Robotics.
  The YAM arm links, linear gripper, fingertips and D405 wrist mount of yam_bench*, task_t12 and task_squeeze_*
  (meshes in library/robots/meshes; their convex pieces also in bench/xbench/ours/packs/t12), converted to MuJoCo
  mesh files. Some links are split into parts, the fingertips are decimated to 12,000 faces, and the collision hulls
  are convex decompositions of these meshes.

  MIT License

  Copyright (c) I2RT Robotics

  Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
  documentation files (the "Software"), to deal in the Software without restriction, including without limitation
  the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and
  to permit persons to whom the Software is furnished to do so, subject to the following conditions:

  The above copyright notice and this permission notice shall be included in all copies or substantial portions of
  the Software.

  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO
  THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
  CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  IN THE SOFTWARE.

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Data
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Material and contact values in library/ (materials, pairs, objects) are facts taken from the handbooks, standards,
data sheets and papers cited in each card's note and in library/SOURCES.md, or our own estimates, marked as such
(source: model). Meshes in library/meshes are generated by alloy/cards/meshgen.py from those dimensions.

The object library on the Hugging Face Hub (argonrobotics-ai/alloy-library) is not part of this distribution; its
ATTRIBUTION.md credits each source. Its 1,900 kitchen objects and fixtures were made by Lightwheel (NVIDIA's
PhysicalAI-Robotics-Manipulation-Objects-Kitchen-MJCF dataset, CC BY 4.0, as packaged by RoboCasa), with our
collision hulls, estimated masses and materials.

The reference-task data (task scenes and their card values, materials, pairs and meshes, the yam_bench robot's
scene, the T12 task pack in bench/xbench/ours/packs/t12) is Copyright Argon Robotics, licensed under Apache-2.0 like
the rest of Alloy; the YAM robot meshes in it are I2RT's (above).
