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Update License metadata#217

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nickswalker wants to merge 4 commits intorobot-descriptions:mainfrom
nickswalker:enhancement/verify-metadata
Open

Update License metadata#217
nickswalker wants to merge 4 commits intorobot-descriptions:mainfrom
nickswalker:enhancement/verify-metadata

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Meant to be considered after #216

I realized that some of the descriptions I added were under the wrong license. Specifically, some of the newer UR models have a permissive but non-standard license. #203

This sort of detail can be difficult to catch on manual inspection, so I am proposing that license metadata be incorporated into the description registry itself, so that 1) the pointed-to license file's existence can be enforced and 2) it is easier to incorporate an automated checker in the future.

Putting this data in the registry means the readme tables can be synthesized from the registry, avoiding sorting errors and typos. Some of my additions introduced these errrors. It also let's us directly surface a link to the pointed-to LICENSE file, so consumers can more easily verify.

@nickswalker nickswalker force-pushed the enhancement/verify-metadata branch from 6009c56 to cada9d1 Compare April 13, 2026 02:23
Generate README from registry, to avoid typos, sorting errors, drift...
Generate license URL from repo URL
@nickswalker nickswalker force-pushed the enhancement/verify-metadata branch from cada9d1 to e2d7d82 Compare April 13, 2026 02:55
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This is a big set of corrections, but I think worth making to avoid obscuring the underlying licenses.

Summary of license metadata changes relative to d170fc83da00.

  • Updated descriptions: 165
  • SPDX changes: 52
  • License-file-only updates: 113

SPDX Changes

Description Repository Old SPDX New SPDX New License File
a1_description unitree_ros BSD-3-Clause LICENSE
a1_mj_description unitree_mujoco BSD-3-Clause LICENSE
aero_hand_open_description aero-hand-open Apache-2.0 CC-BY-SA-4.0 ros2/src/aero_hand_open_description/package.xml
aliengo_description unitree_ros BSD-3-Clause LICENSE
aliengo_mj_description unitree_mujoco BSD-3-Clause LICENSE
aloha_mj_description mujoco_menagerie BSD-3-Clause aloha/LICENSE
anymal_b_description anymal_b_simple_des azzzcription BSD-3-Clause LICENSE
anymal_b_mj_description mujoco_menagerie BSD-3-Clause anybotics_anymal_b/LICENSE
anymal_c_description anymal_c_simple_description BSD-3-Clause LICENSE
anymal_c_mj_description mujoco_menagerie BSD-3-Clause anybotics_anymal_c/LICENSE
anymal_d_description anymal_d_simple_description BSD-3-Clause LICENSE
b1_description unitree_ros BSD-3-Clause LICENSE
b2_description unitree_ros BSD-3-Clause LICENSE
baxter_description baxter_common BSD-3-Clause LICENSE
bolt_description example-robot-data BSD-3-Clause LICENSE
cassie_description cassie_description MIT LICENSE
cassie_mj_description mujoco_menagerie MIT agility_cassie/LICENSE
cf2_description gym-pybullet-drones MIT LICENSE
cf2_mj_description mujoco_menagerie MIT bitcraze_crazyflie_2/LICENSE
gen3_mj_description mujoco_menagerie BSD-2-Clause BSD-3-Clause kinova_gen3/LICENSE
go1_description unitree_ros BSD-3-Clause LICENSE
go1_mj_description mujoco_menagerie BSD-3-Clause unitree_go1/LICENSE
go2_description unitree_ros BSD-3-Clause LICENSE
go2_mj_description mujoco_menagerie BSD-3-Clause unitree_go2/LICENSE
hyq_description example-robot-data Apache-2.0 robots/hyq_description/README.md
laikago_description unitree_mujoco BSD-3-Clause LICENSE
mini_cheetah_description mini_cheetah_urdf BSD package.xml
minitaur_description bullet3 BSD-2-Clause data/quadruped/license.txt
nextage_description rtmros_nextage BSD nextage_description/package.xml
openarm_v1_mj_description openarm_mujoco Apache-2.0 LICENSE
poppy_torso_description poppy_torso_description GPL-3.0 package.xml
rhea_description rhea_description Apache-2.0 LICENSE
robotiq_2f85_description robotiq_arg85_description BSD-2-Clause BSD package.xml
romeo_description romeo_robot BSD-3-Clause BSD romeo_description/package.xml
skydio_x2_description skydio_x2_description Apache-2.0 LICENSE
skydio_x2_mj_description mujoco_menagerie Apache-2.0 skydio_x2/LICENSE
solo_description example-robot-data BSD-3-Clause LICENSE
spot_mj_description mujoco_menagerie BSD-3-Clause boston_dynamics_spot/LICENSE
spryped_description spryped BSD spryped_urdf_rev06/package.xml
stretch_description stretch_description CC-BY-SA-4.0 CC-BY-NC-SA-4.0 LICENSE
talos_description talos-data Apache-2.0 LGPL-3.0 LICENSE
tiago_description example-robot-data Apache-2.0 CC-BY-NC-ND-3.0 robots/tiago_description/README.md
upkie_description upkie_description Apache-2.0 LICENSE
ur10_description example-robot-data Apache-2.0 BSD-3-Clause LICENSE
ur15_description Universal_Robots_ROS2_Description BSD-3-Clause Universal Robots Terms for Graphical Documentation meshes/ur15/LICENSE.txt
ur18_description Universal_Robots_ROS2_Description BSD-3-Clause Universal Robots Terms for Graphical Documentation meshes/ur18/LICENSE.txt
ur20_description Universal_Robots_ROS2_Description BSD-3-Clause Universal Robots Terms for Graphical Documentation meshes/ur20/LICENSE.txt
ur30_description Universal_Robots_ROS2_Description BSD-3-Clause Universal Robots Terms for Graphical Documentation meshes/ur30/LICENSE.txt
ur3_description example-robot-data Apache-2.0 BSD-3-Clause LICENSE
ur5_description example-robot-data Apache-2.0 BSD-3-Clause LICENSE
ur8long_description Universal_Robots_ROS2_Description BSD-3-Clause Universal Robots Terms for Graphical Documentation meshes/ur8long/LICENSE.txt
yumi_description robot-assets BSD README.md

License File Only Changes

Description Repository SPDX New License File
adam_lite_mj_description mujoco_menagerie MIT pndbotics_adam_lite/LICENSE
aero_hand_open_mj_description mujoco_menagerie Apache-2.0 tetheria_aero_hand_open/LICENSE
allegro_hand_description drake BSD manipulation/models/allegro_hand_description/LICENSE.TXT
allegro_hand_mj_description mujoco_menagerie BSD-2-Clause wonik_allegro/LICENSE
apollo_mj_description mujoco_menagerie Apache-2.0 apptronik_apollo/LICENSE
arx_l5_mj_description mujoco_menagerie BSD-3-Clause arx_l5/LICENSE
atlas_drc_description drake BSD-3-Clause LICENSE.TXT
atlas_v4_description roboschool MIT LICENSE.md
berkeley_humanoid_description berkeley_humanoid_description BSD-3-Clause package.xml
booster_t1_mj_description mujoco_menagerie Apache-2.0 booster_t1/LICENSE
double_pendulum_description example-robot-data BSD-3-Clause LICENSE
draco3_description draco3_description BSD-2-Clause LICENSE
dynamixel_2r_mj_description mujoco_menagerie MIT dynamixel_2r/LICENSE
ergocub_description ergocub-software BSD-3-Clause LICENSE
eve_r3_description halodi-robot-models Apache-2.0 eve_r3_description/package.xml
fanuc_m710ic_description fanuc_m710ic_description BSD-3-Clause LICENSE
fer_description franka_description Apache-2.0 LICENSE
fetch_description roboschool MIT LICENSE.md
finger_edu_description example-robot-data BSD-3-Clause LICENSE
fr3_description franka_description Apache-2.0 LICENSE
fr3_mj_description mujoco_menagerie Apache-2.0 franka_fr3/LICENSE
fr3_v2_1_description franka_description Apache-2.0 LICENSE
fr3_v2_description franka_description Apache-2.0 LICENSE
fr3_v2_mj_description mujoco_menagerie Apache-2.0 franka_fr3_v2/LICENSE
g1_description unitree_ros BSD-3-Clause LICENSE
g1_mj_description mujoco_menagerie BSD-3-Clause unitree_g1/LICENSE
gen2_description example-robot-data BSD-3-Clause LICENSE
gen3_description ros2_kortex BSD-3-Clause LICENSE
gen3_lite_description ros2_kortex BSD-3-Clause LICENSE
ginger_description GingerURDF BSD package.xml
h1_2_description unitree_ros BSD-3-Clause LICENSE
h1_2_mj_description unitree_ros BSD-3-Clause LICENSE
h1_description unitree_ros BSD-3-Clause LICENSE
h1_mj_description mujoco_menagerie BSD-3-Clause unitree_h1/LICENSE
icub_description icub-models CC-BY-SA-4.0 iCub/package.xml
iiwa14_description drake BSD-3-Clause manipulation/models/iiwa_description/LICENSE.TXT
iiwa14_mj_description mujoco_menagerie BSD-3-Clause kuka_iiwa_14/LICENSE
iiwa7_description differentiable-robot-model MIT LICENSE
j2n4s300_description kinova-ros BSD-3-Clause LICENSE
j2n6s200_description kinova-ros BSD-3-Clause LICENSE
j2n6s300_description kinova-ros BSD-3-Clause LICENSE
j2n7s300_description kinova-ros BSD-3-Clause LICENSE
j2s6s200_description kinova-ros BSD-3-Clause LICENSE
j2s6s300_description kinova-ros BSD-3-Clause LICENSE
j2s7s300_description kinova-ros BSD-3-Clause LICENSE
jaxon_description jaxon_description CC-BY-SA-4.0 LICENSE
jvrc_description jvrc_description BSD-2-Clause LICENSE
jvrc_mj_description jvrc_mj_description BSD-2-Clause LICENSE
leap_hand_mj_description mujoco_menagerie MIT leap_hand/LICENSE
leap_hand_v1_description LEAP_Hand_Sim MIT LICENSE.txt
low_cost_robot_arm_mj_description mujoco_menagerie Apache-2.0 low_cost_robot_arm/LICENSE
n1_mj_description mujoco_menagerie Apache-2.0 fourier_n1/LICENSE
omx_f_description open_manipulator Apache-2.0 LICENSE
omx_l_description open_manipulator Apache-2.0 LICENSE
omy_3m_description open_manipulator Apache-2.0 LICENSE
omy_f3m_description open_manipulator Apache-2.0 LICENSE
omy_l100_description open_manipulator Apache-2.0 LICENSE
op3_mj_description mujoco_menagerie Apache-2.0 robotis_op3/LICENSE
open_manipulator_x_description open_manipulator Apache-2.0 LICENSE
panda_description example-robot-data Apache-2.0 robots/panda_description/LICENSE
panda_mj_description mujoco_menagerie Apache-2.0 franka_emika_panda/LICENSE
pepper_description pepper_description BSD-2-Clause LICENSE
piper_description Piper_ros MIT LICENSE
piper_mj_description mujoco_menagerie MIT agilex_piper/LICENSE
poppy_ergo_jr_description poppy_ergo_jr_description GPL-3.0 package.xml
pr2_description robot-assets BSD README.md
r2_description nasa-urdf-robots NASA-1.3 README.md
reachy_description reachy_description Apache-2.0 LICENSE
rizon4_description flexiv_description Apache-2.0 LICENSE
robotiq_2f85_mj_description mujoco_menagerie BSD-2-Clause robotiq_2f85/LICENSE
robotiq_2f85_v4_description robotiq_2f_85 BSD-2-Clause LICENSE
robotiq_2f85_v4_mj_description mujoco_menagerie BSD-2-Clause robotiq_2f85_v4/LICENSE
rsk_description onshape-to-robot-examples MIT README.md
rsk_mj_description mujoco_menagerie MIT robot_soccer_kit/LICENSE
sawyer_mj_description mujoco_menagerie Apache-2.0 rethink_robotics_sawyer/LICENSE
shadow_dexee_mj_description mujoco_menagerie Apache-2.0 shadow_dexee/LICENSE
shadow_hand_mj_description mujoco_menagerie Apache-2.0 shadow_hand/LICENSE
sigmaban_description sigmaban_urdf MIT LICENSE
simple_humanoid_description simple_humanoid_description BSD-2-Clause LICENSE
so_arm100_description SO-ARM100 Apache-2.0 LICENSE
so_arm100_mj_description mujoco_menagerie Apache-2.0 trs_so_arm100/LICENSE
so_arm101_description SO-ARM100 Apache-2.0 LICENSE
so_arm101_mj_description SO-ARM100 Apache-2.0 LICENSE
stretch_3_mj_description mujoco_menagerie Apache-2.0 hello_robot_stretch_3/LICENSE
stretch_mj_description mujoco_menagerie Clear BSD hello_robot_stretch/LICENSE
stretch_se3_description stretch_urdf Clear BSD LICENSE.md
talos_mj_description mujoco_menagerie Apache-2.0 pal_talos/LICENSE
tiago++_mj_description mujoco_menagerie Apache-2.0 pal_tiago_dual/LICENSE
toddlerbot_2xc_mj_description mujoco_menagerie MIT toddlerbot_2xc/LICENSE
toddlerbot_2xm_mj_description mujoco_menagerie MIT toddlerbot_2xm/LICENSE
toddlerbot_description toddlerbot MIT LICENSE
trifinger_edu_description differentiable-robot-model MIT LICENSE
ur10_official_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur10e_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur10e_mj_description mujoco_menagerie BSD-3-Clause universal_robots_ur10e/LICENSE
ur12e_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur16e_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur3_official_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur3e_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur5_official_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur5e_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
ur5e_mj_description mujoco_menagerie BSD-3-Clause universal_robots_ur5e/LICENSE
ur7e_description Universal_Robots_ROS2_Description BSD-3-Clause LICENSE
valkyrie_description nasa-urdf-robots NASA-1.3 README.md
viper_mj_description mujoco_menagerie BSD-3-Clause trossen_vx300s/LICENSE
widow_mj_description mujoco_menagerie BSD-3-Clause trossen_wx250s/LICENSE
xarm6_description xarm_ros2 BSD-3-Clause LICENSE
xarm7_description xarm_ros2 BSD-3-Clause LICENSE
xarm7_mj_description mujoco_menagerie BSD-3-Clause ufactory_xarm7/LICENSE
yam_description i2rt MIT LICENSE
yam_mj_description mujoco_menagerie MIT i2rt_yam/LICENSE
z1_description unitree_ros BSD-3-Clause LICENSE
z1_mj_description mujoco_menagerie BSD-3-Clause unitree_z1/LICENSE

@nickswalker nickswalker marked this pull request as ready for review April 13, 2026 03:11
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