ROBOT SOURCE AND MODIFICATION NOTICE Oblique Research LLC — 2026-09-30 This package documents and supplies sources for the robot-derived assets used by the independent Oblique Research LLC simulator. It is not the source of the complete website, a complete robot manufacturing package, or a representation that the community checkpoint's redistribution rights have been cleared. UPSTREAM SOURCES Asimov 1: https://github.com/menloresearch/asimov-1 Source checkout: ccf5326f0adffd65edf930cbbac052454cdd82be Original visual-source pin: b8420ffe99159065152aa1321a03147c0962f251 All sim-model files supplied here are byte-identical at both pins, verified against the original pin's GitHub Git blob identifiers on 2026-09-30. The upstream README labels hardware CERN-OHL-S-2.0 and software GPL-2.0. Both unmodified upstream license texts and the simulation source are included. No per-file clarification of software-versus-hardware scope was found for simulation XML. These existing terms are preserved, not replaced by the license for local tooling. Asimov designs are not exclusively Oblique Research IP. Community model and controller: https://github.com/Ma-Dan/asimov_1_train Pinned commit: f6d525d80e7d6b0fdac3b61f4dbc77544107dfa6 The original controller carries BSD-3-Clause attribution for NVIDIA, ETH Zurich / Nikita Rudin, RobotEra and AgiBot; this attribution remains in the original source and reference/community/SOURCE.txt. setup.py identifies BSD-3-Clause. The repository includes Asimov robot-derived files; package metadata must not be used to erase the underlying Asimov model/design terms. LOCAL CHANGES, DOCUMENTED 2026-09-30 1. Visual conversion (recovered converter; original conversion predates this notice): imported STL meshes into Blender using MJCF body transforms and joint hierarchy; applied a shared pearl-shell material, smooth polygon shading and decimation toward approximately 2,500 faces for larger meshes; exported a GLB in native Z-up coordinates without animations, cameras or lights. The application rotates the root for presentation. The joint map extracts joint axes/ranges and keys them by body name. Provenance: the recovered earlier robot.glb and the site's asimov-1.glb have the same size and SHA-256, including identical binary data. Both have 52 nodes, 26 meshes and the same Asimov pearl shell material. Their metadata records Khronos glTF Blender I/O v4.5.51. The recovered converter's hierarchy, material and export settings agree with these observations. Its only local packaging change is replacing a developer-machine path with package-relative paths and ensuring the output directory exists. Blender was unavailable during this packaging pass, so a fresh visual rebuild has not been verified. This is recovered source with strong matching provenance, not a claim of independently verified bit-for-bit GLB regeneration. 2. Assisted MJCF conversion: removed rendered meshes/assets and original scene elements; added a ground plane, step proxies and numeric obstacle/fence fixtures; adjusted initial pose, timestep, gravity and solver iterations; added joint damping and provisional +/-20 Nm motor limits. Numeric fixture inputs are included because they are part of the distributed modified XML. They are estimates; no yard photographs or yard visual model are included. 3. Community MJCF conversion: used the pinned 12-DOF legs model, removed mesh elements and mesh geoms, retained its inertias/collision primitives, set a 1 ms timestep and initial pose, then appended the numeric scene colliders. 4. Browser controller adaptation: ported the BSD-attributed sim2sim observation, action and PD control contract to JavaScript for ONNX Runtime/MuJoCo; added scenario commands, recording, manual takeover, timing and app boundary guards. The adaptation is supplied under adaptations/ with its existing upstream BSD attribution. Original application additions receive no new license from this package. The boundary helper, website UI, renderer and runtime libraries are outside this package; the adaptation is not a standalone website. 5. Checkpoint conversion: original TorchScript policy was exported to ONNX with 3,102 float32 observation values (47 values x 66 history frames), 12 actions, opset 17, input name observation and output name action. A portable conversion script is included. No checkpoint or ONNX weights are included here. The script requires a separately obtained authorized checkpoint of the exact pinned hash. BSD package metadata exists, but an explicit weights grant was not found; neither this package nor the script grants checkpoint rights. PORTABILITY AND VERIFICATION scripts/build-models.py rebuilds both XMLs and the joint map with standard Python. scripts/validate-package.py checks all package file hashes and compares rebuilt XML and joint data to the shipped reference assets. With optional MuJoCo 3.14.0 installed, it compiles and advances each reconstructed model one physics step. On 2026-09-30, both reconstructed XMLs were byte-identical to the shipped files; the joint-map data matched exactly. Both models compiled and advanced one step under MuJoCo 3.14.0 (23 actuators at 2 ms; 12 actuators at 1 ms). The source manifest records exact content hashes and included/omitted subsets. The historical internal MJCF model identifier is retained solely to reproduce the current reference asset; it is not the application's current public brand. LICENSE BOUNDARY Original source copyrights and license notices remain applicable to their files. Asimov robot sources and their modified derivatives retain the upstream Asimov terms; no exclusive proprietary claim is made over those files. Four standalone reproducibility scripts have the limited BSD-3-Clause grant in TOOLING-LICENSE.txt, with each file listed explicitly. Oblique retains ownership of its original contributions. This grant does not cover original application code, the controller adaptation, yard/photos, trademarks, policy weights, or third-party robot designs. Existing upstream BSD grants in controller material remain intact, and no new license is imposed on original application additions. SOURCE ACCESS This archive is intended to be offered alongside the distributed robot assets through the site's Credits & licenses page. It includes the exact upstream simulation sources, modified reference files and conversion inputs, rather than only a link to the unmodified upstream repository. Preserve this notice and source access when redistributing covered derivatives. The source location is the location from which this archive is served; no private-machine path is required to use it. This notice is not a separate three-year written source offer and is not a blanket legal clearance of the whole application. 2026-10-23 — Latest-policy simulation adapter The additional assets/fullbody/model.xml is readable MJCF source with estimated backyard colliders and a fixed 23-joint physical configuration. It combines the Menlo Asimov 1 model with OpenHorizon recovery collision geometry. Joint armatures remain fixed across walking, safe-fall and get-up policy transitions. The browser controller applies motor torques; no base stabilization is added. See assets/fullbody/SOURCE.json for exact revisions, SHA-256 values, licenses and assumptions; fullbody-controller.js and fullbody-policy.js contain the runtime adaptation. The original rendered robot meshes are unchanged by this update.