quackd
Copyright 2026 Rok Benko and the quackd contributors

Licensed under the Apache License, Version 2.0.

quackd is an independent community project. It is not affiliated with or
endorsed by Pollen Robotics or Hugging Face. "Microduck" is used nominatively
to describe compatibility.

This project builds on, interoperates with, and is grateful to:

  * Microduck (pollen-robotics/microduck) — the robot's onboard daemon stack
    (robotd, mediad, padd, tofd, configd, updaterd, btd) and its JSON-RPC
    contract (duck-ipc-proto). Apache-2.0.
    https://github.com/pollen-robotics/microduck

  * microduck_rl (pollen-robotics/microduck_rl) — the training stack that
    produces the ONNX policies the robot runs. Code Apache-2.0.
    Its 3D model files are CC BY-NC-SA and are NOT included in this project.
    https://github.com/pollen-robotics/microduck_rl

  * Model Context Protocol Python SDK (modelcontextprotocol/python-sdk). MIT.
    https://github.com/modelcontextprotocol/python-sdk

  * DrEureka (Ma et al.) — the "LLM-written rewards" idea behind the
    learned-verbs roadmap. https://eureka-research.github.io/dr-eureka/

  * reachy_mini (pollen-robotics/reachy_mini) — the SDK the reachy_mini
    adapter targets. Apache-2.0. Optional extra quackd[reachy]; nothing
    vendored, method names cited as facts.
    https://github.com/pollen-robotics/reachy_mini

  * LeRobot (huggingface/lerobot) — the robot and policy interfaces the
    lerobot adapter targets. Apache-2.0. Optional extra quackd[lerobot].
    https://github.com/huggingface/lerobot

  * roslibpy (gramaziokohler/roslibpy, MIT) and rosbridge_suite
    (RobotWebTools/rosbridge_suite, BSD-3-Clause) — the client library and
    the protocol the rosbridge adapter speaks. Optional extra
    quackd[rosbridge]. Message definitions come from ros2/common_interfaces
    (Apache-2.0).
    https://github.com/gramaziokohler/roslibpy

  * python-zeroconf (LGPL-2.1) and paho-mqtt (EPL-2.0 / EDL-1.0) — LAN
    discovery and the MQTT flock bus. Optional extra quackd[lan], imported
    lazily and never on the default path.
    https://github.com/python-zeroconf/python-zeroconf

  * Open Duck Mini (apirrone/Open_Duck_Mini) — the open source 3D printed
    biped the open_duck adapter targets, and the source of its walk policy.
    Apache-2.0. Nothing vendored: no ONNX policy, no CAD, no meshes and no
    sounds are distributed with quackd. You fetch them onto your own robot.
    https://github.com/apirrone/Open_Duck_Mini

  * Open Duck Mini Runtime (apirrone/Open_Duck_Mini_Runtime) — the on-robot
    runtime that quackd's bridge daemon imports. It carries NO LICENSE FILE,
    so all rights are reserved by its authors: quackd vendors none of it,
    depends on none of it, and never redistributes it. You install it on your
    own robot from upstream. Method and constant names are cited as facts.
    https://github.com/apirrone/Open_Duck_Mini_Runtime

No Pollen Robotics or Open Duck Mini logos, meshes, CAD, ONNX policies,
sounds, videos, or other brand assets are distributed with quackd.
