NOTICE

This file records provenance and attribution facts visible in the release bundle.
It does not make a legal conclusion about release eligibility.

Bundle-owned material

The policy weights and the jig and cube designs in STEP, 3MF, and drawing form
are provided under Apache-2.0; see LICENSE.

Embedded BambuStudio configuration data

The following print projects embed BambuStudio configuration data:

- reorient/hardware/cube.3mf contains
  Metadata/project_settings.config, which parses as a complete configuration
  with 557 keys.
- hardware/hand1/base.3mf contains
  Metadata/project_settings.config, which parses as a complete configuration
  with 559 keys.
- hardware/hand2/base.3mf contains
  Metadata/project_settings.config, which parses as a complete configuration
  with 581 keys. Its recorded printer_model is `Bambu Lab H2C`,
  printer_settings_id is `Bambu Lab H2C 0.4 nozzle`, and
  default_filament_profile is `Bambu PLA Basic @BBL H2C`.

The values originate from BambuStudio resources/profiles/BBL data. Bundle
evidence includes change_filament_gcode text such as
`;======== H2C filament_change ========` and default_filament_profile values
`Bambu PLA Basic @BBL H2C` and `Bambu PLA Basic @BBL P1S 0.4 nozzle`.
The upstream project is <https://github.com/bambulab/BambuStudio>; its
repository license at
<https://github.com/bambulab/BambuStudio/blob/master/LICENSE> is AGPL-3.0.

Release eligibility and any attribution or source obligations for the embedded
configuration data remain for the release reviewer to confirm. This notice
records facts only. Retaining the configuration is intentional because the
print and slicing settings are necessary downstream information for these
print projects.

Export-tool banners

reorient/hardware/cube.obj and reorient/hardware/cube.mtl carry the
exporter banners `# Created by Open3D` and
`# https://github.com/mikedh/trimesh`. These are export-tool banners; the
resulting geometry is bundle-owned material.

Cube texture

reorient/hardware/cube.png is a 1440×240 RGB image containing six
240×240 texture tiles, one for each face, with binary fiducial patterns. The
bundle does not record which generating marker dictionary was used, including
whether it was an ArUco 4×4, 5×5, 6×6, or another dictionary. The owner must
supply that provenance before reviewers can determine any attribution
obligation.

AprilTag specification reference

AprilTag36h11 appears in the task manifests as the wrist-marker
specification. The bundle contains no AprilTag image file and therefore does
not redistribute an AprilTag image.

ONNX producer metadata

reorient/checkpoints/hand1/policy.onnx and
reorient/checkpoints/hand2/policy.onnx both record `pytorch 2.7.1` as the
ONNX producer. Both also embed a `wuji_policy_identity` metadata entry; the
Hand 2 entry identifies policy schema 1 and robot generation 2 and matches
the required `reorient/checkpoints/hand2/config.json` sidecar. `rsl_rl`
appears as the training-framework name in the manifest; this bundle does
not contain rsl_rl source code.

Hand 2 checkpoint provenance

The matched files in reorient/checkpoints/hand2/ come from run
`RewardContactFix_Full_s42`, trained with code commit
`a72f60c8dc3d81e02b53ed63f17353c74ed91737` for task
`WujiHand2_Reorient_50Hz`. The run's `model_4999.pt` is distributed as
`model.pt`; the exported `policy.onnx` carries generation identity and is
paired with its matching `config.json`. Training scale and seed are recorded
in reorient/manifest.json from the run's params/env.yaml and params/agent.yaml.
This set replaces the previously bundled Hand 2 checkpoint.

Purchased hardware specification

Hand 1's `350x200x13 铝合金蜂窝板` appears in the assembly tree in
hardware/hand1/assembly.step and in the bill of materials in
hardware/hand1/assembly.pdf. Hand 2's assembly tree and bill
of materials in the corresponding `hand2/assembly.step` and `hand2/assembly.pdf`
identify `350x200x13 蜂窝铝板` and four `M6 螺母`. These are specifications of
purchased standard components.

Known PDF drawing content

hardware/hand1/assembly.pdf contains visible `00B`/`01B`
drawing identifiers, `YR` initials, and `2026/6/4` dates. The revised
hardware/hand2/assembly.pdf no longer contains the
`CONFIDENTIAL DOCUMENTS` footer present in the previous Hand 2 drawing.
The revised page still displays `WJ-RL开源治具-00A` in the title block,
`WJ-RL开源治具-01A` in the bill of materials, `YR` in the designer/drafter
fields, and `2026/9/24` dates. Clearing PDF DocInfo and XMP metadata does
not alter these page-content facts.

PenSpin additions in the combined bundle

Pen CAD was supplied by the project maintainer. The source STEP contains two alternative shafts named 250 and 240;
both assemblies measure 250 mm overall. Exported filenames and part labels use
ring/cross names. Geometry, colors, component placements and all end-block
solids are retained. Source names and the original SHA-256 are recorded in
pen_spin/manifest.json. Open CASCADE 7.8.1 was used for STEP import/export.

The PenSpin PNG artwork and deployment layout JSON are copied unchanged from
the integration repository revision recorded in the PenSpin manifest.
The texture_faces.csv table records face dimensions and marker IDs derived
from the deployment layout and existing texture slot arrangement.
Print settings, datasets and policies are documented in the task manifest.


PenSpin trajectory data

The 40 NPZ clips, five group indexes and five recipes in pen_spin/data/
were copied without modification from the user-designated integration
working tree's src/wuji_mjlab/tasks/pen_spin/data/ directories. File digests
are recorded in the group indexes and SHA256SUMS. They use the physical
wrist frame recorded in pen_spin/manifest.json.

PenSpin policy checkpoints

Five matched policy sets are included in pen_spin/checkpoints/, one per
motion group. Each set contains model.pt, policy.onnx and config.json.
The model.pt files were copied
byte-for-byte from the maintainer-selected regular five-group training
runs and renamed for this release. The training source revision is
37c71a478905369e2072d3e3bc39484ad38774b6. The corresponding ONNX exports are included; file digests are recorded
in pen_spin/manifest.json and SHA256SUMS.


PenSpin production source files

The production resources include two maintainer-supplied 3MF projects and
one STEP assembly, copied byte-for-byte under pen_spin/hardware/.
The 3MF projects contain Bambu Lab X2D printer profiles and Bambu PLA Basic
filament settings. The STEP assembly is a separate source from the split
ring/cross exports. File digests are recorded in pen_spin/manifest.json
and SHA256SUMS.
