Open Source License Notices

RB-Y1 software uses the open-source libraries, fonts, and runtime components listed below. Each component is subject to its copyright holders’ license terms and notice requirements.

Version information is based on the software inventory dated August 20, 2026, and may vary between software releases. A dash (—) indicates that the inventory does not specify a version.

Components

Component	Version	License	Project and contributors
Eigen3	3.4.0	MPL-2.0	Eigen project and contributors
gRPC	RPC: 1.54.3; SDK: 1.72.0	Apache-2.0	gRPC authors
concurrentqueue	1.0.4	BSD-2-Clause	Cameron Desrochers
bshoshany-thread-pool	3.5.0	MIT	Barak Shoshany
nlohmann_json	3.11.3	MIT	Niels Lohmann and contributors
yaml-cpp	0.8.0	MIT	Jesse Beder and contributors
FreeType	2.11.1	FTL OR GPL-2.0-or-later	The FreeType Project
spdlog	1.12.0	MIT	Gabi Melman and contributors
libudev	—	LGPL-2.1-or-later	systemd / udev contributors
Vue	3.4.31	MIT	Vue contributors
Vuetify	3.6.11	MIT	John Leider and contributors
three.js	0.178.0	MIT	three.js authors
urdf-loader	0.12.6	MIT	Garrett Johnson and contributors
Tweakpane	4.0.5	MIT	Hiroki Kokubun and contributors
vue-joystick-component	0.1.3	MIT	Package contributors
Axios	1.7.7	MIT	Axios contributors
@mdi/font	7.4.47	Asset-specific license terms	Pictogrammers / Austin Andrews and contributors
roboto-fontface	—	Apache-2.0	Google / Roboto contributors
uuid	11.0.3	MIT	uuid contributors
core-js	3.37.1	MIT	Denis Pushkarev and contributors
FastAPI	0.111.0	MIT	Sebastián Ramírez and contributors
websockets	12.0	BSD-3-Clause	Aymeric Augustin and contributors
NumPy	RPC: 2.0.1; SDK: ≥2.0.1	BSD-3-Clause	NumPy developers
python-crontab	3.2.0	LGPL-3.0-or-later	Martin Owens and contributors
Pydantic	2.10.6	MIT	Samuel Colvin and contributors
Python	≥3.10, <3.13	PSF License and included notices	Python Software Foundation and contributors
Dynamixel SDK	RPC: —; SDK: 3.7.51	Apache-2.0	ROBOTIS
MuJoCo	—	Apache-2.0	Google DeepMind and contributors
CImg	—	CeCILL-C OR CeCILL-2.1	David Tschumperlé and contributors
OSQP	v1.0.0	Apache-2.0	OSQP developers
osqp-eigen	v0.10.0	BSD-3-Clause	robotology / Fondazione Istituto Italiano di Tecnologia

Component-specific notices

FreeType

This software is based in part on the work of the FreeType Team.

CImg

RB-Y1 software uses the CImg library developed by David Tschumperlé and contributors. The applicable CeCILL license includes the original licensor’s warranty disclaimer and limitations of liability.

Material Design Icons

The fonts, supporting code, and individual icons in @mdi/font are subject to the terms identified in the distributed package’s license file.

License information

The project and contributor names in the table do not replace original copyright notices. Copyright notices, license copies, and applicable NOTICE files for each distributed version remain subject to their original terms.

For FreeType and CImg, OR identifies alternative licenses offered upstream. The selected license and the terms of the applicable files govern the actual distribution.

For components subject to source availability requirements, corresponding source and required materials must be provided in accordance with the applicable license and distribution method. The license links and component list on this page do not replace corresponding-source delivery or a written source offer.