# Rights and provenance — mixed-rights research release

This composite dataset is publicly distributed without a blanket CC BY, MIT, Apache or other permissive data license covering every component. Public availability must not be read as a license grant for third-party robot-rendered appearance. No manufacturer permission or clearance is claimed.

| Component | Provenance and applicable terms |
|---|---|
| Source handwriting | Prat et al., UJI Pen Characters v2, UCI DOI 10.24432/C5FG8S; marked CC BY 4.0 by UCI. Attribution and modifications are retained in NOTICE. |
| Generated annotations and packaging | Task composition, synthetic timing/layout transforms, simulated state/action alignment, schema, episode metadata and inspection packaging were generated for this project. They are derived material, not additional original human demonstrations. This provenance statement grants no rights over incorporated third-party material. |
| Loader code | `examples/loader.py` is MIT licensed; see CODE_LICENSE. That code license does not apply to the dataset imagery. |
| Robot-rendered appearance | Rendered using official Hiwonder/NexArm assets. An applicable explicit license covering rendered-output distribution/reuse has not been established. The underlying model rights remain with the relevant rights holders. |
| AA-Robotics association | Task and appearance inspiration only. This is not official AA data, an exact reconstruction or an endorsed release. AA source images/video/logs are not included. |

## Robot source evidence

- Model source: https://github.com/Hiwonder/NexArm/tree/0eb4fb8d806454fa1ff753f6a5ad305c63acceb4
- Relevant package: `src/simulations/nexarm_description`.
- Root README describes educational/research availability without specifying a rendered-output redistribution or commercial-use license.
- Relevant `package.xml` contains `<license>TODO: License declaration</license>`. The public main package was checked during preparation and retained that TODO.
- No applicable top-level or model-package license was found in the pinned tree; unrelated subpackage licenses are not treated as model licenses.

Robot STL meshes, URDF/Xacro, model XML, credentials, personal paths and AA reference media are excluded. The videos still contain the robot model's rendered appearance; excluding raw models does not resolve that rights status.

## Reuse scope

The UJI source license and loader-code license keep their stated scopes. No additional permission is asserted for the NexArm model or its rendered appearance. Determine applicable rights for the intended use, and retain source attribution and modification notices. This record documents the unresolved scope rather than claiming that a manufacturer has authorized the release.

UJI source: https://archive.ics.uci.edu/dataset/177/uji+pen+characters+version+2
CC BY 4.0: https://creativecommons.org/licenses/by/4.0/